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Make actuator package safer #39

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WT-MM opened this issue Nov 1, 2024 · 1 comment · Fixed by #49

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WT-MM commented Nov 1, 2024

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WT-MM commented Nov 1, 2024 •

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Want to do the following:

Set a safe default set position for MotorsSupervisor (ideally equal to current position IF motor is responding normally)
Give a warning whenever the delta to a new setpoint is too large and optionally make this a hard safety check
Add soft torque limits

Wonder if this needlessly adds complexity to the actuator package and should instead be implemented Python side?

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Make actuator package safe #43

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WT-MM linked a pull request

that will close this issue

Add ability to write generic sdo params #49

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WT-MM closed this as completed

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