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personalrobotics / prpy

Python utilities used by the Personal Robotics Laboratory.
BSD 3-Clause "New" or "Revised" License
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Implement Servo() on MicoArm #258

Closed sjavdani closed 8 years ago

sjavdani commented 8 years ago

Implemented joint velocity commands through the Servo function for the mico arm. Also added a watchdog that sends zero velocity after 0.25 seconds of no commands sent to the arm.

Not included is the code to activate all the controllers - I'll add that directly to adapy, since it uses the controller interface included there.

mkoval commented 8 years ago

The high-level implementation looks good. I posted a few comments related to threading on the commits.

sjavdani commented 8 years ago

Ok, added lock, added docstring and modified the use of timer. Comment about servo vs. set velocity inline. Now, it will reset it's internal timer until the handler is called once, at which time the thread will exit. if you call reset again, and the thread has exited, it will spawn a new thread.