The purpose of this issue is to keep track of the icub-firmware-shared parts touched by the improvements in the low level motor control. The new EMS board firmware will be able to exploit features already present in the 2FOC motor board. In particular, we'll be able to control the iCub motors by velocity and current closed control loops in addition to the pwm open loop now available.
nunoguedelha
commented
5 years ago
The purpose of this issue is to keep track of the icub-firmware-shared parts touched by the improvements in the low level motor control. The new EMS board firmware will be able to exploit features already present in the 2FOC motor board. In particular, we'll be able to control the iCub motors by velocity and current closed control loops in addition to the pwm open loop now available.
https://github.com/robotology/icub-firmware-shared/tree/fmi PR: https://github.com/robotology/icub-firmware-shared/pull/29
@nunoguedelha