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Commit 1d4f1264 authored by armar-user's avatar armar-user
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Fix error message for absolute encoder error in imagine board (untested)

parent 31937327
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......@@ -31,7 +31,7 @@
// armarx
#include <RobotAPI/libraries/core/math/MathUtils.h>
#include <bitset>
namespace devices::ethercat::common::imagine_board
{
......@@ -143,7 +143,7 @@ namespace devices::ethercat::common::imagine_board
// Error or Warning bit is set
std::uint8_t error_and_warnings = static_cast<std::uint8_t>((raw_abs_encoder_value_bytes[2] & 0b00000011) << 6u)
| static_cast<std::uint8_t>((raw_abs_encoder_value_bytes[3] & ~0b00000011) >> 2u);
ARMARX_RT_LOGF_ERROR("%s: Absolute Encoder Error and Warning bits: %b", d.robotNode->getName().c_str(), error_and_warnings);
ARMARX_ERROR << deactivateSpam(1) << d.robotNode->getName() << "Absolute Encoder der Error and Warning bits" << std::bitset<8>(error_and_warnings);
}
}
......
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