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Katharine's fixes to TMotor CAN #511

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Merged
senthurayyappan merged 32 commits into from
Feb 16, 2026
Merged

Katharine's fixes to TMotor CAN #511

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3f01ee1
fixed reading case temperature from actuator
Katharine-Walters Jan 22, 2026
ae42368
reverted to most recent base.py version
Katharine-Walters Jan 22, 2026
e87465c
removed un-used params from MOTOR_CONSTANTS
Katharine-Walters Jan 22, 2026
7670836
reformatted setting control mode to take follow base ControlModeConfi…
Katharine-Walters Jan 22, 2026
e51cf7c
removed unnecessary impedance functions
Katharine-Walters Jan 22, 2026
034c900
added docstrings for CAN classes
Katharine-Walters Jan 22, 2026
1304dcc
initial commit of tutorial scripts
Katharine-Walters Jan 22, 2026
299dea8
fixed position control, tested in positive and negative commanded pos…
Katharine-Walters Jan 22, 2026
66f824f
tested torque and velocity control tutorials
Katharine-Walters Jan 22, 2026
af58c0b
added script for controlling 2 tmotors simultaneously
Katharine-Walters Jan 22, 2026
b3dc6ef
cleaned up
Katharine-Walters Jan 22, 2026
743f5fb
clean up
Katharine-Walters Jan 22, 2026
61bbf13
added angular rate to Kalman filter
Katharine-Walters Jan 26, 2026
00ca11e
Merge branch 'new_Tmotor_Servo_CAN' into tmotor
Katharine-Walters Jan 28, 2026
22247f4
Merge pull request #510 from Katharine-Walters/tmotor
Katharine-Walters Jan 28, 2026
48f8799
Merge branch 'main' into new_Tmotor_Servo_CAN
Katharine-Walters Feb 4, 2026
1fde3e0
fixed quality
Katharine-Walters Feb 4, 2026
f535bf8
fixed current scale issue, removed NotImplementedErrors so tmotor is …
Katharine-Walters Feb 5, 2026
9db233d
Merge remote-tracking branch 'refs/remotes/origin/new_Tmotor_Servo_CA…
Katharine-Walters Feb 5, 2026
7f8fbe6
removed whitespace
Katharine-Walters Feb 5, 2026
302d1d8
fixed quality issues
Katharine-Walters Feb 5, 2026
abee152
replaced time.time() with time.monotonic()
Katharine-Walters Feb 9, 2026
cd12fe0
added handling for unavailable sensor data in fifo read
Katharine-Walters Feb 10, 2026
bb55427
Merge remote-tracking branch 'refs/remotes/origin/new_Tmotor_Servo_CA…
Katharine-Walters Feb 10, 2026
66228d8
made check
Katharine-Walters Feb 10, 2026
4583d42
fixing type and test issues
Katharine-Walters Feb 10, 2026
3fe3b72
fixing type and test issues take 2
Katharine-Walters Feb 10, 2026
9a61e05
fix test and print issues
Katharine-Walters Feb 10, 2026
56193df
still fixing the test cases
Katharine-Walters Feb 10, 2026
89b5a5a
that was silly
Katharine-Walters Feb 10, 2026
bdf4942
fixed type issues
Katharine-Walters Feb 10, 2026
8e64137
fixed quality
Katharine-Walters Feb 10, 2026
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1 change: 1 addition & 0 deletions opensourceleg/actuators/base.py
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Original file line number Diff line number Diff line change
Expand Up @@ -412,6 +412,7 @@ class ActuatorBase(OfflineMixin, ABC):
"set_output_torque": {CONTROL_MODES.CURRENT, CONTROL_MODES.TORQUE},
"set_current_gains": {CONTROL_MODES.CURRENT, CONTROL_MODES.TORQUE},
"set_position_gains": {CONTROL_MODES.POSITION},
"set_impedance_gains": {CONTROL_MODES.IMPEDANCE},
}

# Offline mode configuration for OfflineMixin
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