Comments (4)
Added support for thermal scaling! Each DephyActpack instance now calls the update_and_get_scale() method within its update() method which updates its new thermal_scaling_factor attribute that can be used to achieve thermal scaling based on the output of the thermal model.
Please checkout the dev branch [39a26c0].
from opensourceleg.
Do we want to make this a flag passed into the actuators (or maybe a flag we set true after instantiation) that automatically does the scaling when you call set current or set impedance? I'm thinking that might be safer in case someone forgets to include the scaling manually at some call.
from opensourceleg.
I was thinking more on these lines:
- We want the update() method to stop/shutdown the actpacks as soon as they hit the user defined max temperature and the thermal_scaling functionality would be something used only by people who clearly understand how the current/impedance is scaled based on the thermal model.
- This way thermal_scaling can be an attribute of the actpack that anyone can use to scale their torque, current, or impedance commands and not be an argument inside set_motor_command methods. This workflow will also allow us to generalize the methods for other motors without a thermal model.
Please let me know your thoughts.
from opensourceleg.
Ok cool, so the safety is still implemented if the max temp is hit. I'm good with that!
from opensourceleg.
Related Issues (20)
- Support for moteus drivers
- Check for actpack thermal trip
- Accessing IMU data from the actuator HOT 3
- Callback function not working? HOT 10
- Check winding temp in addition to case temp for erroring.
- Generalize Open-Source Leg modules
- Abstract Base Class for Control Modes HOT 1
- Update/fix PyPI readme HOT 1
- Move Mock classes to their respective modules for testing HOT 1
- Refactor IMU class to include start_streaming, stop_streaming, and update methods.
- Encoder map method is missing details. HOT 1
- Merge in NL_Middleware helpful classes HOT 2
- Load cell updates are really slow
- Calibrate loadcell method does not work.
- Logger Array Handling
- Logger Typo
- test HOT 1
- Get updated SoftRealtimeLoop
- Dephy always logging HOT 2
- Joint Velocity property is wrong HOT 4
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from opensourceleg.