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feat(follower): RS00 从爪分左右手，打开时校验开合方向并告警 - #22
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RS00 夹爪内部齿轮对称安装：右从爪(SN 末位偶数)Reverse 0 / flags 0x0001, 左从爪(奇数)Reverse 1 / flags 0x0003(0094s、0086s 右，0089s 左,2026-10-09)。 固件按型号只认一个方向、标定又把方向写回，左手 RS00 新机会标反且不自纠。 - detail::expected_open_reverse(model_id, side):RS00 左 true、右 false,其它 nullopt - FollowerGripper 打开时，存的 Reverse 与左右不符就告警(给出应写的 flags),不写 flash - Python 导出 expected_open_reverse - EL05 暂不纳入(只测过一台) C++ 466 passed(新增 1 条纯函数 + 3 条 pty);pytest 129 passed / 2 skipped; 实机 0089s(左)/ 0094s(右)打开无告警。 Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
This was referenced Oct 10, 2026
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背景
RS00 夹爪内部齿轮对称安装，同一款电机张开时转向相反(用户 2026-10-09 确认，实物对照 0089s / 0094s):
0x0001,Reverse 0(0094s、0086s)0x0003,Reverse 1(0089s)固件按型号只认一个方向(RS00 = 0),自动标定把方向原样写回，所以新的左手 RS00 第一次标定会标反且不自纠，开度整个颠倒。
改动
detail::expected_open_reverse(model_id, side):RS00 左 → true、右 → false,其它 → nullopt;Python 导出expected_open_reverseFollowerGripper打开时存的 Reverse 与左右不符则告警，给出应写的 flags;只告警，不写 flash验证
C++ 466 passed(纯函数 1 条 + pty 3 条:左手存成右手告警、左右都正确不告警、EL05 不检查);pytest 129 passed / 2 skipped;实机 0089s(左)/ 0094s(右)打开无告警。
不发版，合入 main。
🤖 Generated with Claude Code