feat: sync axis task state parity work

2026-07-07 18:45:26 -04:00
parent 16484afce6
commit 8ef67f94c2
562 changed files with 175971 additions and 248 deletions
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs
@@ -808,6 +808,12 @@ async function pathFromTaskHalExecution({ profile, staged, selectedPlan, executi
      programLines,
    }));
    taskHal.sendCommand({ type: "EMC_TASK_SET_STATE", state: "ON" });
+    taskHal.sendCommand({ type: "EMC_JOINT_HOME", joint: -1 });
+    taskHal.runCycles({
+      taskPeriodNs: 10000000,
+      servoPeriodNs: 1000000,
+      taskCycles: 1,
+    });
    taskHal.sendCommand({ type: "EMC_TASK_SET_MODE", mode: "AUTO" });
    taskHal.sendCommand({ type: "EMC_TASK_PLAN_RUN", line: 0 });