[Spinal][Neuron][Servo] refactor the torque off rule

jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)

http://www.jsk.t.u-tokyo.ac.jp/index-j.html

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Open tongtybj opened 6 days ago

tongtybj commented 6 days ago

Refactor the torque off, especially the force torque off, rule, which should be determined by neuron.

So far, the force torque off, such as input voltage error, is determined by spinal. But it should be determined by neuron
Overload error should not lead the servo off, since the algorithm of overload of dynamixel motor is wired.