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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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Validate PID gains that are being passed to actuators in _set_gains() #304

Open shreyhas opened 4 days ago

shreyhas commented 4 days ago

🚀 Feature Request

Add a check that ensures that the PID gains being passed into actuators are within the specification limits of the actuators.

🔈 Motivation

Currently, setting an invalid gain will throw an error at the device level. We should catch this before invalid gains are passed to the actuators.