documentation

Requirements

device cia 402

must be able to:

• set control mode Done
• set speed Done
• get speed Done -> Revision
• set position Done
• get position Done
• set torque Done -> Revision
• get torque Done -> Revision
• check status Done -> Revision
• init Done -> Revision
• stop Done -> Revision
• display errors ToDo
• react to errors ToDo

robot

joint

must be able to:

• be set in constructor
  • gear ratio
  • max-min pos, vel, acc.
• get position from min to max
• get speed from min to max
• get torque from min to max
• set position from min to max
• set speed from min to max
• set torque from min to max
• have different callback controllers