Still working on grippers for demo code.
maybe works?
Not sure if changes in this commit will work, but last commit worked quite well.
starting to merge gripper branch
will it work? probably not. at least my bad thoughts have turned down the volume a bit...
bleh
more changes for grippers
WIP
forgot the calibration settings...
getting closer?
it compiles, but no idea if it actually works.
gripper class mostly works, but keep getting segfaults during some runs.  Most likely cause is that I broke something in MotionManager.cpp or CM730.cpp (CM730::TxRxPacket(char*, char*, int))
Still getting segfaults from TxRxPacket...
still getting segfaults from txrxpacket()
This is annoying the hell out of me.  Anytime the CM730 produces an RX_CORRUPT during BulkRead(), it causes a seg fault that kills the entire program.
I think the RX_CORRUPT segfault finally got fixed.  Moved ReadBulk() to start of MotionManager::Process() and added checks for SUCCESS anywhere attempting to read from m_BulkReadData.
Still working on tracking that damn segfault.  It only happens after a BulkRead() produces a CM730 invalid checksum.  It happens after the mutexes are released and the status returned, so probably something with the subsequent SyncWrite() which never makes it to the mutex wait.
I still have no real idea why it keeps segfaulting, but it has not been occuring very often and the rest of the gripper class mostly works.  Need to test speed and torque control, then see if it correctly handles AX-series servos.
Torque control and feedback appear to work well enough.
Attempts to add AXM gripper leads to immediate segfault in Robot::LinuxMotionTimer::TimerProc(void*)