Open PeterBowman opened 11 months ago
YARP 3.9 has introduced a new IJointCoupling
interface. Perhaps not so useful here than on the Dextra hand (ping @jgvictores), but it's interesting anyway.
YARP 3.9 has introduced a new
IJointCoupling
interface. Perhaps not so useful here than on the Dextra hand (ping @jgvictores), but it's interesting anyway.
If I'm understanding the objective correctly, it's mostly useful for simulation. https://github.com/roboticslab-uc3m/tools/tree/d7f4442d7a9289870ca7dc253fd4c914f435de86/libraries/YarpPlugins/RealToSimControlBoard which is generic could probably benefit from it.
Introducing ControlBoardCouplingHandler (implements IJointCoupling
): https://github.com/robotology/yarp/pull/3085.
RS485 protocol characteristics:
Power supply: 24VDC with at least 2.5A (60W) and 3.75A overload.
Control modes: