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45 set speed limit and torque limit at actuator level #52

Merged
merged 22 commits into from
Oct 23, 2023
Merged

45 set speed limit and torque limit at actuator level #52

merged 22 commits into from
Oct 23, 2023

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glannuzel
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@glannuzel glannuzel commented Oct 18, 2023 •
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This PR contains:

  • speed_limit and torque_limit settable at actuator level, doing set_speed_limit(value) and set_torque_limit(value)
  • speed_limit and torque_limit settable at actuator level, doing get_speed_limit() and get_torque_limit()
  • compliancy readable at motor level, doing _motor_1.compliant
  • speed_limit and torque_limit settable at motor level -> is this ok?
  • creation of lists self.__motors, self.__joints, self.__axis to ease iteration over actuator class attributes

@glannuzel glannuzel linked an issue Oct 18, 2023 that may be closed by this pull request
Set speed_limit, torque_limit at actuator level. #45
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@glannuzel glannuzel requested a review from simheo October 18, 2023 15:03
@glannuzel glannuzel self-assigned this Oct 18, 2023
@glannuzel glannuzel changed the base branch from develop to 59-make-client-work-with-ros-server October 23, 2023 12:33
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@simheo Can you check this again now we've made the modifications to write in registers?
You need to put all reachy-sdk-api (in and outside of docker_sdk_server) on main branch, and reachy_sdk_server in the docker on branch 49

@glannuzel glannuzel merged commit af85c99 into 59-make-client-work-with-ros-server Oct 23, 2023
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@glannuzel glannuzel deleted the 45-set-speed_limit-torque_limit-and-pid-at-actuator-level branch October 23, 2023 13:09
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@simheo simheo simheo approved these changes

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Set speed_limit, torque_limit at actuator level.
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@glannuzel @simheo