feat(dephy): Added torque_constant parameter to DephyActuator. This allows the users to override the motor torque constant (NM_PER_AMP) when constructing DephyActuator in the control script#523
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…hyLegacyActuator. This allows the users to override the motor torque constant (NM_PER_AMP) when constructing DephyActuator in the control script. Also changed the default torque constant from 0.1133 Nm/A to 0.145 Nm/A to match the torque constant of the new motor. Additionally logs a warning and raises error when torque_constant is below 0.08, since low values cause the motor to draw more current for the same torque.
VarunSatyadevShetty
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VarunSatyadevShetty
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…hyLegacyActuator. This allows the users to override the motor torque constant (NM_PER_AMP) when constructing DephyActuator in the control script. Additionally logs a warning and raises error when torque_constant is outside the range (0.08,0.25), since low values cause the motor to draw more current for the same torque.
VarunSatyadevShetty
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VarunSatyadevShetty
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This allows the users to override the motor torque constant (NM_PER_AMP) when constructing DephyActuator in the control script. Additionally, it raises value error (also logs warning) when torque_constant is outside the range (0.08, 2.5), since low values cause the motor to draw more current for the same torque.
I have tested it on the Knee+Ankle OSL setup!