search

RoMeLaUCLA / robot-player

A wrapper library with simple, easy-to-use interfaces for controlling robots.
8 stars 2 forks source link

Updating motion manager, dxl_control_table, and dxl_interface #25

Closed AlexS28 closed 5 years ago

AlexS28 commented 5 years ago

-Added a torque control function (input position and goal effort) -Added some miscellaneous functions (such as receiving present voltage, effort limit, goal accelerations). More may be added if needed. -Added a torque_conversion_equation function (converts units of Nm to Amps and vice versa). If only units of dxl are desired, this option can also be chosen. -Modified control table, added some more variables to the dxlpro class such as Present Voltage etc. Added a dictionary for the dxlpro class that lists the values required for the linear equations used in the torque_conversion_equation function.

danielasun commented 5 years ago

Hi Alex, these are pretty good. My last comment is could you include a test script or two that demonstrates the functionality that you added so that we use it for troubleshooting/test drive your new code?

AlexS28 commented 5 years ago

Hi Alex, these are pretty good. My last comment is could you include a test script or two that demonstrates the functionality that you added so that we use it for troubleshooting/test drive your new code?

I added the torque control test file, basically a low torque test then a high torque test for both positive and negative directions.