Continuing the discussion from Artist residency: Êtres et Numérique:
I have some trouble with my SmartCompliance primitive behaviour. I wondering if it is not due to the fact that the compliance is not set as fast as I think.
I saw in the controller module the compliance was not added by default as a read/write loop:
self.add_sync_loop(50, self._get_pos_speed_load, 'Thread-get_pos_speed_load') self.add_sync_loop(50, self._set_pos_speed_load, 'Thread-set_pos_speed_load') self.add_write_loop(10, 'pid_gain', 'pid') self.add_write_loop(10, 'compliance_margin') self.add_write_loop(10, 'compliance_slope') self.add_read_loop(1, 'angle_limit') self.add_read_loop(1, 'present_voltage') self.add_read_loop(1, 'present_temperature')
- What happens when I set the compliance of a motors at 50 Hz ?
- Is it possible to add a custom read/write loop when we create a robot ? For example:
poppy = pypot.robot.from_config(...) poppy.something.add_write_loop(50, 'compliant')