Add local joint impedance control interface + improve python binding packaging

open-dynamic-robot-initiative / master-board

Hardware and Firmware of the Solo Quadruped Master Board

BSD 2-Clause "Simplified" License

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Add local joint impedance control interface + improve python binding packaging #71

Closed thomasfla closed 3 years ago

thomasfla commented 3 years ago

Add local joint impedance control interface to close the impedance loop on the motor driver. To be used the user needs to send Kp, Kd, pos_ref and vel_ref. iq = iq_ff + Kp (pos_ref - pos) + Kd*vel_ref-vel Note that pure direct current is also possible by setting Kp=0 Kd=0

To use this feature, you must first reflash your motor driver(uDriver) with the latest version of the firmware (to come).

Small refactoring of the packaging to improve the linkage of the python bindings.

MaximilienNaveau commented 3 years ago

Could this one be merged? I would love to rebase the PR (https://github.com/open-dynamic-robot-initiative/master-board/pull/72) after this one is merged.

jviereck commented 3 years ago

With this PR, the current unit for the Kp and Kd value are A/rot and A/krpm. Would it be more useful to use A/rad and A/(rad*s)such that the units are compatible with the returned position and velocity measurement (which are in SI units already).

jviereck commented 3 years ago

With this PR, the current unit for the Kp and Kd value are A/rot and A/krpm. Would it be more useful to use A/rad and A/(rad*s)such that the units are compatible with the returned position and velocity measurement (which are in SI units already)

Please ignore that comment. I see that we convert to SI units already and the table only talks about the internal protocol convention. All good.

jviereck commented 3 years ago

Tested this locally and it works nicely. Therefore merging it into master. Working on a new patch file for the micro drivers.