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Multiple joint velocity controller #51
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You might want to look at joint_trajectory_action_controller which is designed to control multiple joints simultaneously. |
Thank you for helping. I'm not so experienced with python, could you correct me if I see wrong some aspects of the trajectory action controller:
The I'm going to need some motor parameters and methods (e.g. RADIANS_PER_ENCODER_TICK, pd_rad_to_raw() ) for velocity control and this is in the |
I would like to control the velocity of multiple MX 64 and 28 motors, by sanding the command signal for each motor in the same time. I found the implemented IO function
def set_multi_speed(self, valueTuples)
, which is used for dual motor setup. I think this could also be used for more then two motors.I'm struggling to figure out how to write a driver, which would handle all the motors velocity.
Is there already a controller like this, or can anyone point me in the right direction to create my own controller?
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