Control arm1/3/2023 ![]() ![]() Yet, you should be careful when doing so, because the motor will try to reach this new goal position as fast as it can. A lower API to control the motor is to directly use the goal_position property. To control & motor in the examples above we used the goto method. Indeed, the target position is stored inside the motor and could be kept even if you restart your Python script. This avoids to directly jump to a new position when you turn the motor stiff. As a safety measure, when turning a motor stiff, its goal position is reset. #Control arm codeYou have to turn it stiff and then run the code above again. Run this code… And if you followed this documentation closely, your motor should not have moved… Can you guess why? Yes, indeed the motor is still compliant. To do that, you can use the compliant property.įor instance, to make the elbow stiff, run the following code: To make Reachy keep its position and let you control its motors, you need to turn them stiff. You can freely move Reachy's arm and place it in its base position. When you turn on your robot, all motors are compliant. It can be controlled by setting new target position.
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