fix teleop

examples/test_torque/faulty_servo.py

@@ -0,0 +1,97 @@
+#faulty servo 
+Model = [777]
+ID = [7]
+Baud_Rate = [0]
+Return_Delay = [0]
+Response_Status_Level = [1]
+Min_Angle_Limit = [1140]
+Max_Angle_Limit = [2750]
+Max_Temperature_Limit = [70]
+Max_Voltage_Limit = [140]
+Min_Voltage_Limit = [40]
+Max_Torque_Limit = [1000]
+Phase = [12]
+Unloading_Condition = [44]
+LED_Alarm_Condition = [47]
+P_Coefficient = [32]
+D_Coefficient = [32]
+I_Coefficient = [0]
+Minimum_Startup_Force = [16]
+CW_Dead_Zone = [1]
+CCW_Dead_Zone = [1]
+Protection_Current = [310]
+Angular_Resolution = [1]
+Offset = [1047]
+Mode = [0]
+Protective_Torque = [20]
+Protection_Time = [200]
+Overload_Torque = [80]
+Speed_closed_loop_P_proportional_coefficient = [10]
+Over_Current_Protection_Time = [200]
+Velocity_closed_loop_I_integral_coefficient = [200]
+Torque_Enable = [1]
+Acceleration = [20]
+Goal_Position = [0]
+Goal_Time = [0]
+Goal_Speed = [0]
+Torque_Limit = [1000]
+Lock = [1]
+Present_Position = [1494]
+Present_Speed = [0]
+Present_Load = [0]
+Present_Voltage = [123]
+Present_Temperature = [24]
+Status = [0]
+Moving = [0]
+Present_Current = [0]
+Maximum_Acceleration = [306]
+
+
+
+#all servos of hopejr
+Model = [2825  777  777 2825  777  777  777]
+ID = [1 2 3 4 5 6 7]
+Baud_Rate = [0 0 0 0 0 0 0]
+Return_Delay = [0 0 0 0 0 0 0]
+Response_Status_Level = [1 1 1 1 1 1 1]
+Min_Angle_Limit = [ 650 1300 1300 1200  600 1725    0]
+Max_Angle_Limit = [2600 2050 2800 2500 4096 2250 4095]
+Max_Temperature_Limit = [80 70 70 80 70 70 70]
+Max_Voltage_Limit = [160 140 140 160 140 140  80]
+Min_Voltage_Limit = [60 40 40 60 40 40 40]
+Max_Torque_Limit = [1000 1000 1000 1000 1000 1000 1000]
+Phase = [12 12 12 12 12 12 12]
+Unloading_Condition = [45 44 44 45 44 44 44]
+LED_Alarm_Condition = [45 47 47 45 47 47 47]
+P_Coefficient = [32 32 32 32 32 32 32]
+D_Coefficient = [32 32 32 32 32 32 32]
+I_Coefficient = [0 0 0 0 0 0 0]
+Minimum_Startup_Force = [15 16 16 12 16 16 16]
+CW_Dead_Zone = [0 1 1 0 1 1 1]
+CCW_Dead_Zone = [0 1 1 0 1 1 1]
+Protection_Current = [310 310 310 310 310 310 500]
+Angular_Resolution = [1 1 1 1 1 1 1]
+Offset = [   0 1047 1024 1047 1024 1024    0]
+Mode = [0 0 0 0 0 0 0]
+Protective_Torque = [20 20 20 20 20 20 20]
+Protection_Time = [200 200 200 200 200 200 200]
+Overload_Torque = [80 80 80 80 80 80 80]
+Speed_closed_loop_P_proportional_coefficient = [10 10 10 10 10 10 10]
+Over_Current_Protection_Time = [250 200 200 250 200 200 200]
+Velocity_closed_loop_I_integral_coefficient = [200 200 200 200 200 200 200]
+Torque_Enable = [1 1 1 1 1 1 1]
+Acceleration = [20 20 20 20 20 20 20]
+Goal_Position = [1909 1977 1820 1000  707 1941 1036]
+Goal_Time = [0 0 0 0 0 0 0]
+Goal_Speed = [0 0 0 0 0 0 0]
+Torque_Limit = [1000 1000 1000  200 1000 1000 1000]
+Lock = [1 1 1 1 1 1 1]
+Present_Position = [1909 1982 1821 1200  710 1941 1036]
+Present_Speed = [0 0 0 0 0 0 0]
+Present_Load = [ 0 48  0  0 32  0  0]
+Present_Voltage = [122 123 122 123 122 122 122]
+Present_Temperature = [23 28 28 26 29 28 28]
+Status = [0 0 0 0 0 0 1]
+Moving = [0 0 0 0 0 0 0]
+Present_Current = [0 1 0 1 1 0 1]
+Maximum_Acceleration = [1530  306  306 1530  306  306  254]