https://github.com/NUbots/NUcontroller/blob/main/NUSense/Core/Src/dynamixel/Packetiser.hpp
line 117-118, the read byte is LSL'ed then is put in the packetiser's buffer member. I assumed / expected it to be at least put in the buffer first before being LSL'ed for the length calculation. I tried this with opencr and as expected we encountered a CRC mismatch but for some reason it works with nusense. I believe it must be investigated and explained to prevent ourselves from going insane down the line.
https://github.com/NUbots/NUcontroller/blob/main/NUSense/Core/Src/dynamixel/Packetiser.hpp
line 117-118, the read byte is LSL'ed then is put in the packetiser's buffer member. I assumed / expected it to be at least put in the buffer first before being LSL'ed for the length calculation. I tried this with opencr and as expected we encountered a CRC mismatch but for some reason it works with nusense. I believe it must be investigated and explained to prevent ourselves from going insane down the line.