opensourceleg

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examples-docs

Tutorials and Examples to help you accelerate your researchWe have developed a series of tutorials and examples to help you get started with the opensourceleg library. These tutorials cover topics such as reading from sensors, commanding current, position, and impedance to the actuators.

Classes

from opensourceleg.hardware.actuators import ActpackMode

Description

Base class for all Dephy-actpack control modes.

Parameters
control_modec_intdefault = 2Control mode to be used.
deviceDephyActpackDephy's actpack to be controlled.
Methods
Description:Calls the entry callback of the control mode.
enter ()Returns -> None
Description:Calls the exit callback of the control mode.
exit ()Returns -> None
Description:Transition to another control mode. Calls the exit callback of the current control mode and the entry callback of the new control mode.
transition (
to_stateActpackModeThe control mode to transition to.
)Returns -> None
Attributes
has_gainsboolTrue if the control mode has gains.
modec_intControl mode being used.
Constants
NameValue
IMPEDANCE_A0.00028444
IMPEDANCE_C0.0007812
M_PER_SEC_SQUARED_ACCLSB9.80665 / 8192
MAX_CASE_TEMPERATURE80.0
MOTOR_COUNT_PER_REV16384
NM_PER_AMP0.1133
NM_PER_MILLIAMPNM_PER_AMP / 1000
NM_PER_RAD_TO_KRAD_PER_COUNT / IMPEDANCE_C * 1e3 / NM_PER_AMP
NM_S_PER_RAD_TO_BRAD_PER_DEG / IMPEDANCE_A * 1e3 / NM_PER_AMP
PI3.14159
RAD_PER_COUNT2 * PI / MOTOR_COUNT_PER_REV
RAD_PER_DEGPI / 180
RAD_PER_SEC_GYROLSBPI / 180 / 32.8