[Rock-dev] mars_core removing of Depreciated Tasks: MarsServo and MarsJoint

[Steffen Planthaber]

Am 09.12.2013 11:29, schrieb Matthias Goldhoorn:
> On 09.12.2013 11:24, Steffen Planthaber wrote:
>> Hi,
>>
>> To be more specific:
>>
>> Now there is no driver left in Mars that subclasses "interfaces::Servo"
> interfaces is depricaed, really depricated.
>>
Also, the new driver is not using it: My bad, sorry.

>> The dynamixel hardware drivers (both) do that, Mars::Servo also did
>> that, Mars::Joints is not.
> then maybe reimplemend this in your module
>>
>> This leads to a missing Sweep mode that can be set via .yml file.
> I'm sorry, if you need sweep functionallity in the long way, you/we need
> to create a sweeping task...

Putting the sweep into MY module/task is imo a bad idea, that could 
result in concurrent writes on the position, when more tasks (possibly 
from other projects) want to set a position.


Best, Steffen

>
>
>>
>> Best, Steffen
>>
>>
>>
>>
>>
>> Am 09.12.2013 11:04, schrieb Sylvain Joyeux:
>>> On 12/09/2013 10:39 AM, Matthias Goldhoorn wrote:
>>>> Not part of the joint standard, so should be removed too
>>> There is no reason to remove it right away (backward compatibility).
>>> Yes, we should drive people to the new dynamixel driver, but I don't see
>>> why we should force it.
>>>
>>> On the MARS side, the real question IMO is: how costly is it to maintain
>>> these deprecated drivers ?
>>>
>>
>>
>>
>>
>>
>
>


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  Steffen Planthaber
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