Advanced Features
These code snippets demonstrate more advanced configuration and control of a PULSAR HRI actuator. It builds upon the basic example so you can upgrade it by adding these features.
In this document you will learn how to:
- 🆔 Change the actuator's PCP address
- ⚙️ Tune performance profiles (torque and speed)
- 🎛️ Set custom control parameters (e.g., stiffness and damping)
- 💾 Optionally save configuration to persistent memory
Changes the actuator's address
Sets a new address. This gets stored in the actuator's persistent memory, so it will be retained across power cycles. For actuators we recommend to use addresses from 0x10 (16) Lower addresses are reserved for adapters and special purposes.
Change performance profiles for torque and speed
The available performance profiles are defined in the PulsarActuator.TorquePerformance and PulsarActuator.SpeedPerformance
actuator.set_torque_performance(PulsarActuator.TorquePerformance.AGGRESSIVE)
actuator.set_speed_performance(PulsarActuator.SpeedPerformance.BALANCED)
Sets custom control parameters
The available parameters are defined in the PulsarActuator.PCP_Parameters. Note that the set_parameters method takes a dictionary, where the keys are the parameter names and the values are the desired settings.
actuator.set_parameters({
PulsarActuator.PCP_Parameters.K_DAMPING: 7.7,
PulsarActuator.PCP_Parameters.K_STIFFNESS: 8.8,
})
Read back parameters
This will read back the current configuration from the actuator. In this case, the get_parameters method takes a list of parameters instead of a dictionary. You can also use get_parameters_all() to read all parameters at once.
params = actuator.get_parameters([
PulsarActuator.PCP_Parameters.MODE,
PulsarActuator.PCP_Parameters.SETPOINT,
PulsarActuator.PCP_Parameters.K_STIFFNESS,
])
# params = actuator.get_parameters_all()
print(params)
print(params[PulsarActuator.PCP_Parameters.K_STIFFNESS])
Saves the configuration to persistent memory
This will save the current parameters to the actuator's persistent memory, so it will be retained across power cycles.