Marco Randazzo

setting ASK_REFERENCE_TO_FIRMWARE to 0 does not make any sense to me, since it will work in position direct mode only. When you are using minimum jerk trajectory generator, only the...

>S-Dafarra So if you need to cache the tagets you could use ASK_REFERENCE_TO_FIRMWARE=0, but please don't commit any change about this. This is should be done only for your debug...

😭 😭 😭

I just remembered this: https://github.com/robotology/yarp/blob/9a395f6e41e01d8d350b6a4e5e2b2f6c6f913b74/src/libYARP_dev/include/yarp/dev/IPidControl.h#L159 I'm not sure about its implementation and response time... @S-Dafarra If you want to give it a try... EDIT: the above method is deprecated. This...

> I am a bit surprised by this, because the documentation states exactly the contrary: Thinking about it, the behavior described in the documentation is the most clean and reasonable....

>Why? References may be used in control loops for various reasons Sorry guys, but these methods are not designed to be fast. In an ideal world they could, but since...

@barbalberto > Yes, it is legit, I'm not saying you cannot use them, only that they are slow by design, at least for RPC YARP part. Imho it is not...

> Finally I would like to understand why getPidReferences is fast. Does it use cached values Pid values are broadcasted spontaneously by the FW board every cycle. We cannot broadcast...

My first question is: is both the SDK and the windows device driver (.dll) correctly installed? The message `Error while opening C:/robotology/robotology/lib/iCub/esdCan.dll` may be misleading, because the file may exists,...

We need to document also #477