Bugfix/lift runaway runstop#23
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| def step(self): | ||
| if self.robot.get_subsystem('lift') is not None: | ||
| if abs(self.robot.lift.status['vel'])>self.params['lift_runaway_vel'] and self.robot.lift.motor.hw_valid: | ||
| if self.robot.lift.status['vel']<0 and abs(self.robot.lift.status['vel'])>self.params['lift_runaway_vel'] and self.robot.lift.motor.hw_valid and not self.robot.power_periph.status['runstop_event']: |
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Blaine mentioned we should still have the runaway sentry active when runstopped; would this disable the safety feature during runstop?
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It would , sorry I thought that was the intent. Would be worth turning it
off on upwards velocity at least
Aaron Edsinger, PhD <http://www.linkedin.com/in/aaron-edsinger>
co-founder & CEO
Hello Robot Inc
…On Thu, May 28, 2026 at 6:40 AM Shehab ***@***.***> wrote:
***@***.**** commented on this pull request.
------------------------------
In stretch4_body/behavior/sentries/sentry_joint_runaway.py
<#23 (comment)>
:
> @@ -13,7 +13,7 @@ def __init__(self, robot):
def step(self):
if self.robot.get_subsystem('lift') is not None:
- if abs(self.robot.lift.status['vel'])>self.params['lift_runaway_vel'] and self.robot.lift.motor.hw_valid:
+ if self.robot.lift.status['vel']<0 and abs(self.robot.lift.status['vel'])>self.params['lift_runaway_vel'] and self.robot.lift.motor.hw_valid and not self.robot.power_periph.status['runstop_event']:
Blaine mentioned we should still have the runaway sentry active when
runstopped; would this disable the safety feature during runstop?
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Contributor
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I've run into another false-positive lift-brake trigger today: 1. Set the gamepad teleop to Fast Speed 2. move the lift up quickly 3. put your hand out to trigger guarded contacts 4. Observe lift-brake engaging. Happy to look into it when I get back to Atl too! Thanks! |
Contributor
Author
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Thanks, we might be able to lower the deceleration during a contact event
in the firmware to avoid this
Aaron Edsinger, PhD <http://www.linkedin.com/in/aaron-edsinger>
co-founder & CEO
Hello Robot Inc
…On Thu, May 28, 2026 at 1:14 PM Shehab ***@***.***> wrote:
*hello-robot-shehab* left a comment (hello-robot/stretch4_body#23)
<#23 (comment)>
I've run into another false-positive lift-brake trigger today: 1. Set the
gamepad teleop to Fast Speed 2. move the lift up quickly 3. put your hand
out to trigger guarded contacts 4. Observe lift-brake engaging. Happy to
look into it when I get back to Atl too! Thanks!
—
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This adds additional conditions to triggering the runaway sentry
Should be tested with the latest stepper firmware (0.1.6p8)