[spinal][neuron] enable to set current limit to Dynamixel for current based position control mode #10

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sugikazu75 wants to merge 18 commits intomasterfrom PR/neuron/servo/torque_control

+538-178

Commits on Jul 19, 2024

[Neuron][Dynamixel] remove uncessary codes

tongtybj
authored and
sugikazu75
committed
[Neuron][Dynamixel] enable to get model number in init phase

tongtybj
authored and
sugikazu75
committed
[Neuron][Dynamixel][WIP] enable sending goal current (torque) in the init phase

tongtybj
authored and
sugikazu75
committed
[Neuron][Dynamixel][WIP] use sync write for goal position regardless of RS485 TTL mix mode

tongtybj
authored and
sugikazu75
committed
[Neuron][Dynamixel] enable polling the operating mode

tongtybj
authored and
sugikazu75
committed
[Neuron][Dynamixel] refactor the current assignment

tongtybj
authored and
sugikazu75
committed
[Neuron][Dynamixel] enable to send goal current every iteration after sending the goal position. Also enable receiving the goal current from CAN

tongtybj
authored and
sugikazu75
committed
[Spinal][Servo][WIP] enable send goal current from rosserial to spinal, and finally to neuron

tongtybj
authored and
sugikazu75
committed
[Spinal][Neuron] modify the CAN initialize message protocol to support sending the initial goal current from neuron to spinal

tongtybj
authored and
sugikazu75
committed
[Servo Bridge] enable to pub/sub target torque via servo bridge

tongtybj
authored and
sugikazu75
committed
[Servo Config] refactor Servo.yaml for all robots: removing unnecessary topic name assignment, use default one

tongtybj
authored and
sugikazu75
committed
[WIP][Spinal] do not switch off servo for overload flag

tongtybj
authored and
sugikazu75
committed
[Servo][Spinal][Neuron] refactor the force servo off rule, which is determined by neuron but not spinal

tongtybj
authored and
sugikazu75
committed
[Neuron][Dynamixel] implement setup of pre-defined configuration

tongtybj
authored and
sugikazu75
committed
[Neuron][Dynamixel] add original rule to force switching off servo according to overload error

tongtybj
authored and
sugikazu75
committed
[Servo Bridge] fix bug about the servo target torque subscriber

tongtybj
authored and
sugikazu75
committed
[Spinal][CAN] set 1[ms] internal between motor pwn and servo target command.

tongtybj
authored and
sugikazu75
committed
[Neuron][STM32F4] ignore Debug.launch

tongtybj
authored and
sugikazu75
committed

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[spinal][neuron] enable to set current limit to Dynamixel for current based position control mode #10

Commits on Jul 19, 2024

[Neuron][Dynamixel] remove uncessary codes

[Neuron][Dynamixel] enable to get model number in init phase

[Neuron][Dynamixel][WIP] enable sending goal current (torque) in the init phase

[Neuron][Dynamixel][WIP] use sync write for goal position regardless of RS485 TTL mix mode

[Neuron][Dynamixel] enable polling the operating mode

[Neuron][Dynamixel] refactor the current assignment

[Neuron][Dynamixel] enable to send goal current every iteration after sending the goal position. Also enable receiving the goal current from CAN

[Spinal][Servo][WIP] enable send goal current from rosserial to spinal, and finally to neuron

[Spinal][Neuron] modify the CAN initialize message protocol to support sending the initial goal current from neuron to spinal

[Servo Bridge] enable to pub/sub target torque via servo bridge

[Servo Config] refactor Servo.yaml for all robots: removing unnecessary topic name assignment, use default one

[WIP][Spinal] do not switch off servo for overload flag

[Servo][Spinal][Neuron] refactor the force servo off rule, which is determined by neuron but not spinal

[Neuron][Dynamixel] implement setup of pre-defined configuration

[Neuron][Dynamixel] add original rule to force switching off servo according to overload error

[Servo Bridge] fix bug about the servo target torque subscriber

[Spinal][CAN] set 1[ms] internal between motor pwn and servo target command.

[Neuron][STM32F4] ignore Debug.launch