Some improvements for the ergoCub wrist #324
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- on amc: left and right wrist for ergocub - on amcbldc: a noisy fault line
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This PR adds some improvements required for the wrists of
ergoCub.In particular:
amc: added a macro which manages the correct orientation of yaw, pitch and roll of both left & right wrists.amcbldc: changed a detection mode of the external fault which is not affected by noisy lines.The features have been successfully tested on the
ergoCubrobotSN000and can be safely merged.