Modify the servo interface for compatibility with common trajectory generators

OpenCyphal / public_regulated_data_types

Regulated DSDL definitions for Cyphal (standard and third-party)

https://nunaweb.opencyphal.org

MIT License

71 stars 95 forks source link

Modify the servo interface for compatibility with common trajectory generators #131

Closed pavel-kirienko closed 1 year ago

pavel-kirienko commented 1 year ago

The servo setpoint should command the target position, target velocity, and the force/torque limit using only reg.udral.physics.dynamics.DoF2nd or a similar generic type.

pavel-kirienko commented 1 year ago

Superseded by https://github.com/OpenCyphal/public_regulated_data_types/issues/140