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Dynamixel effort state processing #291

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@filiparag filiparag commented Feb 23, 2024

Ispravka postojećih problema:

  • dodavanje effort-a u export_command_interfaces
  • slanje effort-a u mep3_msgs/action/JointPositionCommand akcijama
  • reagovanje na zadati max_effort
  • recovery na osnovu parametara akcije
  • dodat recovery parametar u BT čvor

Univerzalni parametari za Dynamixel AX-12 servo motore:

  • effort_average: računanje effort-a na osnovu više odabiraka
  • torque_threshold: granica jakog opterećenja (od 0 do 1 - najvećeg operećenja)
  • recovery_timeout: vreme koje motor može biti jako opterećen pre odustajanja

@filiparag filiparag added the low level control Low-level control label Feb 23, 2024
@filiparag filiparag self-assigned this Feb 23, 2024
@filiparag filiparag force-pushed the fix-dynamixel-effort-averaging branch from a020401 to 979c947 Compare February 24, 2024 00:59
@filiparag filiparag force-pushed the fix-dynamixel-effort-averaging branch from 979c947 to 3f01851 Compare February 24, 2024 01:02
@@ -8,11 +8,11 @@ float64 max_velocity # rad/s or m/s
float64 max_acceleration # rad/s^2 or m/s^2
float64 tolerance # rad or m
float64 timeout # s
float64 max_effort
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Zasto mA? Mozes staviti da se parametar zove max_current i onda jedinicu A. effort moze biti N ili Nm

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Ima smisla, slažem se

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Nisam video da može biti Nm, a samo N mi nema smisla da bude jer je rotaciono kretanje?

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