bam.feetech.actuator

Classes

STS3215Actuator

Feetech STS3215 7.4v

Module Contents

class bam.feetech.actuator.STS3215Actuator(testbench_class: bam.testbench.Testbench)

Bases: bam.actuator.VoltageControlledActuator

Feetech STS3215 7.4v

default_max_velocity

get_extra_inertia() → float

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

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.

Parameters:

log – Log dict as loaded from a processed JSON file.

initialize()

Create kt and R parameters on the attached model.

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