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Requirements

The new neck design must perform all the movements available in the old version.

Functionalities in the old versions

device cia 402

Current library is able to:

  • set control mode
  • set speed
  • get speed
  • set position
  • get position
  • set torque
  • get torque
  • check status
  • init Done
  • stop Done
  • display errors (in python)
  • react to errors ToDo

Find more information in :

Additional classes created

A class allowing to define different device parameters has been created and passed as a parameter when the CiA402 objects are instatiated. This enables to use the same library with the new versions of the neck.