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feature: lift reverse? and centering offset into transmission blocks #19

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feature: lift reverse? and centering offset into transmission blocks #19

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36 changes: 27 additions & 9 deletions lib/bb/example/so101/robot.ex
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Original file line number Diff line number Diff line change
Expand Up @@ -135,10 +135,13 @@ defmodule BB.Example.SO101.Robot do
acceleration(~u(2160 degree_per_square_second))
end

transmission do
reversed?(true)
end

actuator(
:shoulder_pan_servo,
{BB.Servo.Feetech.Actuator,
servo_id: 1, controller: :feetech_controller, reverse?: true}
{BB.Servo.Feetech.Actuator, servo_id: 1, controller: :feetech_controller}
)

link :shoulder_link do
Expand Down Expand Up @@ -184,10 +187,14 @@ defmodule BB.Example.SO101.Robot do
acceleration(~u(2160 degree_per_square_second))
end

transmission do
offset(~u(90.0 degree))
reversed?(true)
end

actuator(
:shoulder_lift_servo,
{BB.Servo.Feetech.Actuator,
servo_id: 2, controller: :feetech_controller, reverse?: true}
{BB.Servo.Feetech.Actuator, servo_id: 2, controller: :feetech_controller}
)

link :upper_arm_link do
Expand Down Expand Up @@ -233,10 +240,14 @@ defmodule BB.Example.SO101.Robot do
acceleration(~u(2160 degree_per_square_second))
end

transmission do
offset(~u(-90.0 degree))
reversed?(true)
end

actuator(
:elbow_servo,
{BB.Servo.Feetech.Actuator,
servo_id: 3, controller: :feetech_controller, reverse?: true}
{BB.Servo.Feetech.Actuator, servo_id: 3, controller: :feetech_controller}
)

link :forearm_link do
Expand Down Expand Up @@ -282,10 +293,13 @@ defmodule BB.Example.SO101.Robot do
acceleration(~u(2160 degree_per_square_second))
end

transmission do
reversed?(true)
end

actuator(
:wrist_flex_servo,
{BB.Servo.Feetech.Actuator,
servo_id: 4, controller: :feetech_controller, reverse?: true}
{BB.Servo.Feetech.Actuator, servo_id: 4, controller: :feetech_controller}
)

link :wrist_link do
Expand Down Expand Up @@ -331,10 +345,14 @@ defmodule BB.Example.SO101.Robot do
acceleration(~u(2160 degree_per_square_second))
end

transmission do
reversed?(true)
end

actuator(
:wrist_roll_servo,
{BB.Servo.Feetech.Actuator,
servo_id: 5, controller: :feetech_controller, reverse?: true}
servo_id: 5, controller: :feetech_controller}
)

link :gripper_link do
Expand Down
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