leggedrobotics / elmo_ethercat_sdk

GNU General Public License v3.0

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Feature/settings #1

Closed jungerj closed 3 years ago

jungerj commented 3 years ago

New settings / better configuration

The following settings are new:

direction: set motor direction
encoder position: specify whether the encoder is on the joint or motor side of the gears.
An explanation of some config parameters that are not completely self explanatory has been added.

The following other things have been changed / added:

Sanity check for configuration object. Includes an intuitive printout in either green or red such that people actually use this feature (instead of only checking a return value which is often omitted in certain projects)
A small fix for the mode of operations when 'use_multiple_modes_of_operation' is set to true.
Better example config file

firesurfer commented 3 years ago

See my coments. Looks fine otherwise