documentation

Requirements

The new neck design must perform all the movements available in the old version.

Functionalities in the old versions

device cia 402

Current library is able to:

• set control mode
• set speed
• get speed
• set position
• get position
• set torque
• get torque
• check status
• init Done
• stop Done
• display errors (in python)
• react to errors ToDo

Find more information in :

• Library
• Examples

Additional classes created

A class allowing to define different device parameters has been created and passed as a parameter when the CiA402 objects are instatiated. This enables to use the same library with the new versions of the neck.