Add Python bindings for SetKp/Kd/SaturationCurrent and fix example.py - Githubissues

open-dynamic-robot-initiative / master-board

Hardware and Firmware of the Solo Quadruped Master Board

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Add Python bindings for SetKp/Kd/SaturationCurrent and fix example.py #130

Closed luator closed 1 year ago

luator commented 1 year ago

Description

Add missing Python bindings for Motor::SetKp/Kd/SaturationCurrent.
Use perf_counter() instead of clock() in example.py (clock() is not available anymore in recent Python versions).
Explicitly initialise all reference values and gains to zero in example.py. This should not really be needed anymore since values are now already zero-initialised in Motor but better be safe than sorry.

How I Tested

By running example.py

I fulfilled the following requirements

[x] All new code is formatted according to our style guide (for C++ run clang-format, for Python, run flake8 and fix all warnings).
[x] All new functions/classes are documented and existing documentation is updated according to changes.
[x] No commented code from testing/debugging is kept (unless there is a good reason to keep it).

luator commented 1 year ago

I hope nobody is still on 2.7…

I think three years after 2.7 reaching end of life, this shouldn't be our worry anymore :)