Control

PULSE actuators provide four user-facing control modes. The physical firmware and AUGUR Digital Twin models run the same low-level control algorithms at 20 kHz.

Mode	Pulsar Python SDK enum	Primary command
Torque control	`Mode.TORQUE`	torque in N·m
Speed/velocity control	`Mode.VELOCITY`	angular velocity in rad/s
Position control	`Mode.POSITION`	output position in rad
Impedance control	`Mode.IMPEDANCE`	position in rad plus optional impedance fields

Pulsar App labels velocity mode as Speed Control. Pulsar Python SDK uses the more precise enum name VELOCITY.

Torque

The command is converted to field-oriented current references and regulated by the motor current loop, subject to configured limits.

Torque control signal flow

Velocity

An outer proportional-integral velocity loop produces the torque request for the inner torque/current control loop.

Velocity control signal flow

Position

An outer position controller generates a velocity request for the nested velocity and torque loops.

Position control signal flow

Impedance

Virtual stiffness, damping, inertia, and feedforward terms produce a compliant torque request from position and velocity behavior.

Impedance control signal flow

For valid command fields and persistent parameters, continue with Control parameters by mode.