mc4plus for open/close of the fingers of handv3 #157
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when EMBOT_ENABLE_hw_tlv493d_emulatedMODE is defined
…if the encoder is not present added the SPI4_IRQHandler().
it is an extension of theFAPreader which reads only tlv sensors
…CES_customize_handV3)
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This PR adds features in the mc4plus code which allow to drive the four DC motors used to open / close the fingers of the new hand V3.
The mc4plus uses a new type of MC service called eomn_serv_MC_mc4plusfaps. This mode was successfully tested running on a mc4plus board compiled with a dedicated project which sets the proper macros. This approach keeps compatibility with the code of the standard mc4plus.
The tests was done with a
yarprobotinterfacecompiled with this fork of icub-main).