MTB4/MTB4C investigate set/reset/subtraction of CDC_OFFSET #671
Description
Description
Sometimes the MTB4/c show strange behavior when a triangle is initialized. This results in wrong values for no touch conditions that are visualized like activated dots in the SkinGUI. Since we can not re-send init messages in the yarprobotinterface, for the moment we patched this by duplicating the config commands in the xml files but this is not a viable fix. We should understand if there is some bug somewhere that interferes with the OFFSET commands, or some other cause is present. With the CAN sniffer we observer that the commands are correctly parsed and sent to the MTB4 boards.
DoD
The firmware is investigated and the bug is found and corrected or its presence is excluded.