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Elmo Platinum motor controller driver #64

Closed d-loret closed 1 year ago

d-loret commented 1 year ago

Initial implementation of the driver for the new Elmo Platinum motor controller drives. The initial implementation focuses on the basic functionality of the drive. All basic modes, cyclic synchronous and profiled, were implemented.

d-loret commented 1 year ago

Some examples of the tests I did:

platinum_prof_pos_debug platinum_prof_vel_debug platinum_prof_torque_debug

alex-brinkman commented 1 year ago

The command ACK they added to the platinum is a nice feature, it was awkward there was nothing like this in the prof pos command mode on the EGD

d-loret commented 1 year ago

@alex-brinkman, I have addressed your comments.

About the naming of EGD and EPD, I would prefer if we keep them as they are right now. I personally like how clean the naming of functions, types, and especially enumeration labels end up.

alex-brinkman commented 1 year ago

Fix that minor merge conflict and then you can merge and mint an updated release. Probably start a new minor release with this sizeable addition.