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 notebook you will learn how to:

• Change the actuator PCP address
• Tune performance profiles for torque and speed
• Set custom control parameters such as stiffness and damping
• Optionally save configuration to persistent memory

Import necessary modules¶

In [ ]:

from pcp_api import PCP_over_USB, PulsarActuator

from pcp_api import PCP_over_USB, PulsarActuator

Instantiate and connect the actuator¶

These advanced features operate on a connected actuator instance. If you are following the basic example, you can reuse that setup. The cell below is included so this notebook can also be run on its own.

In [ ]:

port = PCP_over_USB.get_port()  # Auto-detect the serial port
# port = "COM1"
print(f"Connecting to {port}")
adapter = PCP_over_USB(port)

ACTUATOR_ADDRESS = 0  # 0 for direct USB connection, or use the actuator address if using CAN
actuator = PulsarActuator(adapter, ACTUATOR_ADDRESS)

if not actuator.connect():
    print(f"Could not connect to the actuator {actuator.address}")
    adapter.close()
    raise SystemExit(1)

print(f"Connected to the actuator {actuator.address} (model: {actuator.model}, firmware: {actuator.firmware_version})")

port = PCP_over_USB.get_port() # Auto-detect the serial port # port = "COM1" print(f"Connecting to {port}") adapter = PCP_over_USB(port) ACTUATOR_ADDRESS = 0 # 0 for direct USB connection, or use the actuator address if using CAN actuator = PulsarActuator(adapter, ACTUATOR_ADDRESS) if not actuator.connect(): print(f"Could not connect to the actuator {actuator.address}") adapter.close() raise SystemExit(1) print(f"Connected to the actuator {actuator.address} (model: {actuator.model}, firmware: {actuator.firmware_version})")

Change the actuator address¶

Set a new address. This is stored in the actuator persistent memory, so it is retained across power cycles. For actuators, we recommend using addresses starting at 0x10 because lower addresses are reserved for adapters and special purposes.

In [ ]:

actuator.changeAddress(0x15)

actuator.changeAddress(0x15)

Change performance profiles for torque and speed¶

The available performance profiles are defined in PulsarActuator.TorquePerformance and PulsarActuator.SpeedPerformance.

In [ ]:

actuator.set_torque_performance(PulsarActuator.TorquePerformance.AGGRESSIVE)
actuator.set_speed_performance(PulsarActuator.SpeedPerformance.BALANCED)

actuator.set_torque_performance(PulsarActuator.TorquePerformance.AGGRESSIVE) actuator.set_speed_performance(PulsarActuator.SpeedPerformance.BALANCED)

Set custom control parameters¶

The available parameters are defined in PulsarActuator.PCP_Parameters. The set_parameters method takes a dictionary where the keys are parameter names and the values are the desired settings.

In [ ]:

actuator.set_parameters({
    PulsarActuator.PCP_Parameters.K_DAMPING: 7.7,
    PulsarActuator.PCP_Parameters.K_STIFFNESS: 8.8,
})

actuator.set_parameters({ PulsarActuator.PCP_Parameters.K_DAMPING: 7.7, PulsarActuator.PCP_Parameters.K_STIFFNESS: 8.8, })

Read back parameters¶

This reads 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.

In [ ]:

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])

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])

Save the configuration to persistent memory¶

This saves the current parameters to the actuator persistent memory so they are retained across power cycles.

In [ ]:

actuator.save_config()

actuator.save_config()

Cleanup¶

Disconnect the actuator and close the adapter when you are done.

In [ ]:

actuator.disconnect()
adapter.close()

actuator.disconnect() adapter.close()