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loco-3d / pyrene

Issues on Pyrene
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Testing lowlevel effort control with sot-v3 #2

Open olivier-stasse opened 7 years ago

olivier-stasse commented 7 years ago

Lowlevel position control through sot-v3 has been already tested on Pyrene. The same should be done with effort mode.

andreadelprete commented 7 years ago

By effort you mean current? Or torque?

olivier-stasse commented 6 years ago

I meant current. Otherwise I just tested my first current control through the roscontrol::interface. But it was a bit strange, I asked 0.02 A and got 2.8 A in the web commander interface. I could not move the feet, while all the other motor were set to zero. Do you think we can have a bias in the control ? In addition the reference value for a position control would have been around the starting position, where here the foot went to the limit as you can expect.

andreadelprete commented 6 years ago

We could have a bias in the current measurements, but that wouldn't explain what you observed. The bias should be the same for you and for the control board, so if you ask for 0.02 A, you should get a current measurement close to 0.02 A (even if actually the real current could be different due to the bias).

I am not sure I get what you mean with your last sentence though. What position control are you talking about?

olivier-stasse commented 6 years ago

Ok. Fixed this is just a mistake due to the device integrator. It worked on the ankle. I just need to test all the joints and we are good to go.