bam.feetech.actuator
====================

.. py:module:: bam.feetech.actuator


Classes
-------

.. autoapisummary::

   bam.feetech.actuator.STS3215Actuator


Module Contents
---------------

.. py:class:: STS3215Actuator(testbench_class: bam.testbench.Testbench)

   Bases: :py:obj:`bam.actuator.VoltageControlledActuator`


   Feetech STS3215 7.4v


   .. py:attribute:: default_max_velocity


   .. py:method:: get_extra_inertia() -> float

      Return the actuator's apparent inertia added to the load [kg·m²].



   .. py:method:: load_log(log: dict)

      Called when a log is loaded.

      Instantiates the testbench from the log metadata (mass, length, …)
      and updates actuator settings (kp, vin) from the log.

      :param log: Log dict as loaded from a processed JSON file.



   .. py:method:: initialize()

      Create ``kt`` and ``R`` parameters on the attached model.



   .. py:method:: compute_control(q_target: float, q: float, dq: float, dt: float) -> float | None

      Assumes the motor is using a kp controller
      This can be overloaded if more custom behaviour is used