High performance motor control
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error — Error readwrite
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input_torque — float32 readwrite
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pos_setpoint — float32 readonly
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vel_setpoint — float32 readonly
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torque_setpoint — float32 readonly
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trajectory_done — bool readonly
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vel_integrator_torque — float32 readwrite
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anticogging_valid — bool readwrite
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config — Config
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move_incremental(displacement: float32, from_input_pos: bool)
Moves the axes’ goal point by a specified increment.
Inputs:
displacement: The desired position change.from_input_pos: If true, the increment is applied relative to input_pos. If false, the increment is applied relative to pos_setpoint, which usually corresponds roughly to the current position of the axis.start_anticogging_calibration()
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