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• Create Date October 12, 2023
• Last Updated October 12, 2023

imu160-toilet-firmware-3.3

Changes:

• Add option to calibrate door based on obstruction rather than close switch, to avoid issues with a faulty or improperly adjusted lock switch
• When new parameter "PARAM_CAL_NUM_OBS_TO_CAL" is set to 0, DCU will use old calibration behavior based on lock switch
  • This is the 3rd last parameter, just after "ENC_MIN_VELOCITY_CMD"

• When new parameter "PARAM_CAL_NUM_OBS_TO_CAL" is greater than 0, DCU will require PARAM_CAL_NUM_OBS_TO_CAL obstructions before finishing calibration.
• The lock switch will not be used at all using this calibration method.

DCU Versions:

• Overall: 3.3 (was 3.2)
• Safety: 2.2 (unchanged)
• Motor: 2.0 (was 1.7)
• Comm: 2.1 (unchanged)
• Display: 2.0 (unchanged)