Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Update README.md according to refactoring #3

Open
5 tasks
prothen opened this issue Jun 18, 2021 · 0 comments
Open
5 tasks

Update README.md according to refactoring #3

prothen opened this issue Jun 18, 2021 · 0 comments

Comments

@prothen
Copy link
Owner

prothen commented Jun 18, 2021

Document available operation modes

  • Autopilot (Setpoint position)
  • External Force (Decoupled DataRead based position measurements)
  • External Force (request / response)
  • External Force (Threaded receiver background service)

Document required

  • Setup process
    1. Call connect()
    2. Activate mode
      • activate_autopilot()
    3. Run loop and check actuation_stream_is_active -> Enables / Disables autopilot, respectively external force scaling
      • This corresponds to the idle condition and allows disengagement after actuation streams are lost
    4. Call exit() on exception to terminate potential background services and leave interface with disabled autopilot and zero force control vector
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@prothen