Add configuration of joint angular velocity and replace the outdated speed API.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

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

aentinger

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Bugfix: Runtime is in milliseconds, not seconds.

aentinger

committed

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

aentinger

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Turn compile time constant into member variable.

aentinger

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Provide getter/setters for angular velocity.

aentinger

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Drop runtime/getRuntime API.

aentinger

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Eliminate speed API alltogether.

aentinger

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

aentinger

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Eliminate 'in' API.

aentinger

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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

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Add configuration of joint angular velocity and replace the outdated speed API.#88

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.