Add configuration of joint angular velocity and replace the outdated speed API. by aentinger · Pull Request #88 · arduino-libraries/Arduino_Braccio_plusplus

Rewrite setPosition in a better structured way (exit early, lock only where necessary).

aentinger

committed

Rewrite getPosition in a better structure (exit early, always a valid return code).

aentinger

committed

Limit angular velocity to 10°/s.

aentinger

committed

Only lock actual writing to the servos.

aentinger

committed

Only update position array when we are in synched mode (otherwise this variable is not needed).

aentinger

committed

Bugfix: Runtime is in milliseconds, not seconds.

aentinger

committed

From a pre-defined max angular velocity calculate the individual runtime.

aentinger

committed

Turn compile time constant into member variable.

aentinger

committed

Provide getter/setters for angular velocity.

aentinger

committed

Drop runtime/getRuntime API.

aentinger

committed

Eliminate speed API alltogether.

aentinger

committed

Increase default angular velocity to 20.0 °/s. This seems save enough.

aentinger

committed

Eliminate 'in' API.

aentinger

committed

Fix example after removing in() API.

aentinger

committed

Enable max. torque which is save now due to velocity limiting.

aentinger

committed

Eliminate no-longer used speed_grade_t constant.

aentinger

committed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

Add configuration of joint angular velocity and replace the outdated speed API.#88

Add configuration of joint angular velocity and replace the outdated speed API.#88
aentinger merged 16 commits intomainfrom
limit-angular-velocity

Commits on Aug 24, 2022

Rewrite setPosition in a better structured way (exit early, lock only where necessary).

Rewrite getPosition in a better structure (exit early, always a valid return code).

Limit angular velocity to 10°/s.

Only lock actual writing to the servos.

Only update position array when we are in synched mode (otherwise this variable is not needed).

Bugfix: Runtime is in milliseconds, not seconds.

From a pre-defined max angular velocity calculate the individual runtime.

Turn compile time constant into member variable.

Provide getter/setters for angular velocity.

Drop runtime/getRuntime API.

Eliminate speed API alltogether.

Increase default angular velocity to 20.0 °/s. This seems save enough.

Eliminate 'in' API.

Fix example after removing in() API.

Enable max. torque which is save now due to velocity limiting.

Eliminate no-longer used speed_grade_t constant.

Add configuration of joint angular velocity and replace the outdated speed API.#88aentinger merged 16 commits intomainarduino-libraries/Arduino_Braccio_plusplus:mainfrom limit-angular-velocityarduino-libraries/Arduino_Braccio_plusplus:limit-angular-velocityCopy head branch name to clipboard

Commits

Commits on Aug 24, 2022

Add configuration of joint angular velocity and replace the outdated speed API.#88
aentinger merged 16 commits intomainfrom
limit-angular-velocity