-'C' for pid_move_to
Takes a range of 9 to 11 arguments.
J6 and J7 are optional, default by not passing in or set to Null/NaN:
x, y, z, dir_x, dir_y, dir_z, config_a, config_b, config_c, J6, J7
xyz's are in integer microns.
dir's are floating point vector components.
config's are booleans (0 or 1)
J6 and J7 are in Dynamixel units (512 = 297 degrees)
See oplet 'M': https://github.com/HaddingtonDynamics/Dexter/wiki/Command-oplet-instruction
-'D' for pid_move_to_straight
Oplet has been added but not been implemented
Will require sleeps in between interpolated steps,
not sure how to handle this in DexRun, may need FPGA queue.
Same arguments as move_to plus maybe a sleep duration or speed.
Two new oplets are added:
-'C' for pid_move_to Takes a range of 9 to 11 arguments. J6 and J7 are optional, default by not passing in or set to Null/NaN: x, y, z, dir_x, dir_y, dir_z, config_a, config_b, config_c, J6, J7 xyz's are in integer microns. dir's are floating point vector components. config's are booleans (0 or 1) J6 and J7 are in Dynamixel units (512 = 297 degrees) See oplet 'M': https://github.com/HaddingtonDynamics/Dexter/wiki/Command-oplet-instruction
-'D' for pid_move_to_straight Oplet has been added but not been implemented Will require sleeps in between interpolated steps, not sure how to handle this in DexRun, may need FPGA queue. Same arguments as move_to plus maybe a sleep duration or speed.