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neurobionics / opensourceleg

An open-source software library for numerical computation, data acquisition, and control of lower-limb robotic prostheses.
https://opensourceleg.org
GNU Lesser General Public License v2.1
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[Moteus Interface] Pi3Hat Update and Stop Feature to be Improved #258

Open Robin0265 opened 1 month ago

Robin0265 commented 1 month ago

🚀 Feature Request

moteus.py has the following methods that has not been implemented:

MoteusInterface.update(): handling process of multiple servo update simultaneously

MoteusInterface.stop(): handling process of multiple servo stop simultaneously

🔈 Motivation

Right now class MoteusController() triggers the update() method via a Pi3Hat singleton separately from each instantiation, which doesn't fully utilize Pi3Hat's function of syncing in multiple buses simultaneously.