amc ICC communication bug

[SanLordKevin]

While testing the ergocub S/N 003 we doscovered that using ICC many errors on the encoder lecture arise. If we used the CAN communication these errors disappears.

cc @MSECode @marcoaccame @valegagge

[marcoaccame]

As I undestand, it happens on the amc board of the wrist in case the communication between the .appl.yri and the .appl.mot is done via ICC and not via CAN.

It would be important to see if that happens also w/ a simpel setup (the lego setup) and if not to log the behaviour on the robot.