[Braccio_Record_and_Replay] Show stop sign when joint enters dead zone.

[aentinger]

When a joint is entering a dead zone (between 315° and 360°) the application is now showing a big stop sign which shall communicate to the user that he should unwind his latest operation. Joint recording is paused as long as a joint is in the invalid zone. As soon as the user turns the joint to be within a valid range again the stop sign disappears.

This prevents the issue that a user is surprised why a replayed sequence does not exactly mirror the recorded one, given that the joint was within the dead zone during some samples.

[github-actions]

Memory usage change @ 90df695

Board	flash	%	RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	🔺 0 - +148	0.0 - 0.0	🔺 0 - +8	0.0 - 0.0

Click for full report table

Board	examples/Braccio_Record_and_Replay flash	%	examples/Braccio_Record_and_Replay RAM for global variables	%	examples/Controlling_Manually_Braccio flash	%	examples/Controlling_Manually_Braccio RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge RAM for global variables	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick flash	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick RAM for global variables	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu flash	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu RAM for global variables	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I flash	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I RAM for global variables	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II flash	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II RAM for global variables	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors flash	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors RAM for global variables	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button flash	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button RAM for global variables	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick flash	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick RAM for global variables	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge flash	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge RAM for global variables	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge flash	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge RAM for global variables	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu flash	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu RAM for global variables	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I flash	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I RAM for global variables	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II flash	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II RAM for global variables	%	examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio flash	%	examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio RAM for global variables	%	examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio flash	%	examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio RAM for global variables	%	examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge flash	%	examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge RAM for global variables	%	examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_controlling_manually_Braccio flash	%	examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_controlling_manually_Braccio RAM for global variables	%	examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_manual_control_challenge flash	%	examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_manual_control_challenge RAM for global variables	%	examples/Platform_Tutorials/projects/p03-learning-mode/01_Braccio_Record_and_Replay flash	%	examples/Platform_Tutorials/projects/p03-learning-mode/01_Braccio_Record_and_Replay RAM for global variables	%	examples/Platform_Tutorials/projects/p03-learning-mode/02_learning_challenge flash	%	examples/Platform_Tutorials/projects/p03-learning-mode/02_learning_challenge RAM for global variables	%	examples/Tools/Braccio_Basic flash	%	examples/Tools/Braccio_Basic RAM for global variables	%	examples/Tools/Braccio_LearnByDoing flash	%	examples/Tools/Braccio_LearnByDoing RAM for global variables	%	examples/Tools/Factory_Set_ID_Interactive flash	%	examples/Tools/Factory_Set_ID_Interactive RAM for global variables	%	examples/Tools/Factory_Set_Initial_Servo_Position flash	%	examples/Tools/Factory_Set_Initial_Servo_Position RAM for global variables	%	examples/Tools/LCD_Custom_Menu flash	%	examples/Tools/LCD_Custom_Menu RAM for global variables	%	examples/Tools/LCD_Menu_Joystick flash	%	examples/Tools/LCD_Menu_Joystick RAM for global variables	%	examples/Tools/LCD_Motors flash	%	examples/Tools/LCD_Motors RAM for global variables	%	examples/Tools/Test_Inputs flash	%	examples/Tools/Test_Inputs RAM for global variables	%	examples/Tools/Test_Motor_Angular_Control flash	%	examples/Tools/Test_Motor_Angular_Control RAM for global variables	%	examples/Tools/Test_Motor_Communication flash	%	examples/Tools/Test_Motor_Communication RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	148	0.0	8	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

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[Esquirio]

@aentinger The image appears correctly in the Record mode, but only for the base and wrist roll movements. For the other joints, the stop image did not appear; is it correct?

[aentinger]

Yes, this is correct. The other joints have been mounted in such a way that is mechanically impossible for the user to move the servo into an invalid position.

[Esquirio]

The new feature, the stop sign, worked correctly. I still have problems with the Replay mode, but I will write a report on slack.

[aentinger]

@Esquirio Shall I align the example within the project tutorials too, i.e. copy over?

@clodpheasant On this topic (keeping the tutorials code-identical with the replay/record and manual control sketch in the top level /examples directory) I've been thinking ... why not keep the tutorial code as is ... which is easy to explain to newcomers and just keep the top-level examples as they are - basically keep them separate. This way there are two sketches to be used for demonstrating to new customers while keeping the code easy and the re-work of the content team at a minimum.

[aentinger]

I'll be merging this leaving the code within Platform_Tutorials unaligned for now, given there are still a couple of issues that need to be adressed.

[Esquirio]

I think yes, but first, it is necessary to check the issues with the Replay mode that I reported to you.