Add Profile velocity

[grafoteka]

Hi all,
I have detected that the package can only control the connected motors in position profile.

Also, in the long-term roadmap there is the objective for support multiple device profiles per slave.

I would like to contribute and try to implement the velocity profile, but I will need some help.

If someone guide me, I will start doing that, but basically I don't know how to start. Which cpp should I start modifying?

Thank you

[juhannc]

Hi @grafoteka, did you ever come around to implement the Profile Velocity mode? I'd be quiet interested

[grafoteka]

Hi @JohannLange, no I couldn't.
I had to implement my own controller but with RS232 communication

[zal-jlange]

For anyone wondering, I created a PR #27 which enables users to control their device in "profile_position_mode", "profile_velocity_mode", or "effort_mode".
Maybe anyone from @KITmedical can merge the PR, thus closing this issue :)