| | 1 | = Libbarrett change log = |
| | 2 | |
| | 3 | == Version 1.0.0 == |
| | 4 | |
| | 5 | Recent changes: |
| | 6 | * Changed the following functions and constants to measure time in seconds: |
| | 7 | * log::RealTimeWriter::RealTimeWriter() |
| | 8 | * Hand::waitUntilDoneMoving() |
| | 9 | * Puck::tryGetProperty() |
| | 10 | * Puck::WAKE_UP_TIME |
| | 11 | * Puck::TURN_OFF_TIME |
| | 12 | * SafetyModule::waitForMode() |
| | 13 | * SafetyModule::waitForModeChange() |
| | 14 | * Removed the non-static overloads for Puck::tryGetProperty() |
| | 15 | * Updated Hand API |
| | 16 | * Improved support for controlling two WAM systems from one PCI CAN card |
| | 17 | * Renamed the "kinematics.world" config setting to "kinematics.world_to_base" |
| | 18 | * Changed how configuration files access calibration information |
| | 19 | * Updated the bt-wam-zerocal program |
| | 20 | * Updated the bt-wam-gravitycal program |
| | 21 | * Added wamdiscover utility to help identify WAMs and WAM-PCs on the local network |
| | 22 | * Added a "make install" target to install the library to system directories |
| | 23 | * Introduced a system for gracefully updating and installing configuration files (run: "make install_config") |
| | 24 | * Added cmake option "-DWITH_PYTHON=ON" to build shared library with python bindings |
| | 25 | * Added python bindings for the Puck class |
| | 26 | * Added python bindings for the barrett::bus namespace |
| | 27 | * Added auto-recovery features that reduce the number of failures on start-up due to CANbus errors |
| | 28 | * Added a method for reading the state of a WAM's Display and Control Pendants (SafetyModule firmware versions >=197) |
| | 29 | * Added the ability to Shift-idle or E-stop a WAM via software (SafetyModule firmware versions >=197) |
| | 30 | * Added barrett/os.h to wrap Operating System facilities, like syslog() and usleep() |
| | 31 | * Added accessor methods to systems::HapticBall and systems::HapticBox |
| | 32 | * Added a new class called "barrett::systems::RateLimiter" |
| | 33 | * Corrected the scale-factor for FTS accelerometer readings |
| | 34 | * Fixed a bug that prevented multiple systems::RealTimeExecutionManager's from running real time loops concurrently |
| | 35 | * Fixed a bug in systems::Wam::getJointVelocities() |
| | 36 | * Fixed a bug in systems::Wam::moveHome(bool, double, double) |
| | 37 | |
| | 38 | Known issues: |
| | 39 | * The installed shared library is not in Python's module search path |
| | 40 | * The CANbus auto-recover feature causes a one-time kernel assertion failure. (This is believed to be an issue with Xenomai 2.5.5.2.) |
| | 41 | * The wamdiscover utility requires Python >=2.7, or separate installation of argparse module |
| | 42 | * The bus::CommunicationsBus::getMutex() method does not have a python binding |
