feat: Add comprehensive TMotor servo mode implementation#33
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DasuanerA wants to merge 1 commit intoUM-LoCoLab:mainfrom
Open
feat: Add comprehensive TMotor servo mode implementation#33DasuanerA wants to merge 1 commit intoUM-LoCoLab:mainfrom
DasuanerA wants to merge 1 commit intoUM-LoCoLab:mainfrom
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DasuanerA
commented
Jul 10, 2025
DasuanerA
commented
- Implement TMotorServoActuator class with full servo mode support
- Add CAN communication manager (CANManagerServo) for TMotor protocol
- Support multiple motor types: AK80-9, AK10-9 with configurable parameters
- Implement core control modes: POSITION, VELOCITY, CURRENT, IDLE
- Add torque control functionality (set_output_torque, set_motor_torque)
- Include comprehensive error handling with detailed error codes
- Add thermal management with temperature monitoring
- Implement async state updates with motor listener pattern
- Add control mode verification and detailed status reporting
- Include unit conversion utilities (degrees/radians, ERPM/rad/s)
- Add safety features: temperature limits, communication timeouts
- Support offline mode for testing and development
- Include detailed documentation and example usage
- Add proper resource management with context manager support
- Implement TMotorServoActuator class with full servo mode support - Add CAN communication manager (CANManagerServo) for TMotor protocol - Support multiple motor types: AK80-9, AK10-9 with configurable parameters - Implement core control modes: POSITION, VELOCITY, CURRENT, IDLE - Add torque control functionality (set_output_torque, set_motor_torque) - Include comprehensive error handling with detailed error codes - Add thermal management with temperature monitoring - Implement async state updates with motor listener pattern - Add control mode verification and detailed status reporting - Include unit conversion utilities (degrees/radians, ERPM/rad/s) - Add safety features: temperature limits, communication timeouts - Support offline mode for testing and development - Include detailed documentation and example usage - Add proper resource management with context manager support
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