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inita support for driver and sensor com error #21

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inita support for driver and sensor com error #21

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2a54a8b
inita support for driver and sensor com error
askuric Oct 13, 2025
96eccc9
enum update
askuric Oct 13, 2025
e49aed7
fmt
askuric Oct 13, 2025
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5 changes: 5 additions & 0 deletions poulpe_ethercat_controller/src/register.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,7 @@ impl BoardStatus {
} else if flags.motor_error_flags.iter().any(|x| {
x.contains(&MotorErrorFlag::LowBusVoltage)
|| x.contains(&MotorErrorFlag::DriverFault)
|| x.contains(&MotorErrorFlag::DriverCommunicationFail)
}) {
Ok(BoardStatus::BusVoltageError)
} else if flags
Expand All @@ -153,6 +154,10 @@ impl BoardStatus {
} else if flags
.homing_error_flags
.contains(&HomingErrorFlag::AxisSensorReadFail)
|| flags
.motor_error_flags
.iter()
.any(|x| x.contains(&MotorErrorFlag::AxisSensorCommunicationFail))
{
Ok(BoardStatus::SensorError)
} else {
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2 changes: 2 additions & 0 deletions poulpe_ethercat_controller/src/state_machine.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,8 @@ pub enum MotorErrorFlag {
LowBusVoltage = 6,
DriverFault = 7,
TemperatureSensorMalfunctionWarning = 8,
AxisSensorCommunicationFail = 9,
DriverCommunicationFail = 10,
}

// Error codes for the homing procedure
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