FSM testing/update - #527
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VarunSatyadevShetty wants to merge 3 commits into
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…hyLegacyActuator. This allows the users to override the motor torque constant (NM_PER_AMP) when constructing DephyActuator in the control script. Also changed the default torque constant from 0.1133 Nm/A to 0.145 Nm/A to match the torque constant of the new motor. Additionally logs a warning and raises error when torque_constant is below 0.08, since low values cause the motor to draw more current for the same torque.
…hyLegacyActuator. This allows the users to override the motor torque constant (NM_PER_AMP) when constructing DephyActuator in the control script. Additionally logs a warning and raises error when torque_constant is outside the range (0.08,0.25), since low values cause the motor to draw more current for the same torque.
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Tested the FSM script and added a comment noting that the FSM requires the loadcell.fz value to be positive.
Also fixed an issue from a previous update (454 no easy way to zero encoders and set their direction) where set_output_impedance and set_output_position were mistakenly commented out.