Expand description
Group types: MotorGroup base + Arm, Gripper, Generic newtypes
and the GroupKind dispatcher.
Structs§
- Arm
- Newtype wrapping a
MotorGroupthat represents an articulated arm. - Generic
- Generic group for topologies that don’t fit
ArmorGripper(future hand, leg, head, etc.). - Gripper
- One-motor gripper newtype with raw motor commands and optional normalized opening support.
- MitCmd
- MIT impedance command.
- Motor
Group - Collection of motors that share a CAN bus and a vendor codec.
- PosForce
Cmd - PosForce command (position + velocity + current per-unit).
- PosVel
Cmd - PosVel command.
- VelCmd
- Pure-velocity command.
Enums§
- Group
Kind - Sum type of every group variant the robot can hold.