Compliant modes

airo-ugent · Aug 20, 2024 · a131a71 · a131a71
1 parent 952999e
commit a131a71
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/airo-robots/airo_robots/drives/hardware/kelo_robile.py b/airo-robots/airo_robots/drives/hardware/kelo_robile.py
@@ -38,8 +38,13 @@ def timeout_awaitable() -> bool:
 
         return AwaitableAction(timeout_awaitable)
 
-    def enable_compliant_mode(self, enabled: bool):
+    def enable_compliant_mode(self, enabled: bool, compliant_level: int = 1):  # TODO: Use enum variants, document.
         if enabled:
-            self._kelo_robile.set_driver_type(PlatformDriverType.COMPLIANT)
+            if compliant_level == 1:
+                self._kelo_robile.set_driver_type(PlatformDriverType.COMPLIANT_WEAK)
+            elif compliant_level == 2:
+                self._kelo_robile.set_driver_type(PlatformDriverType.COMPLIANT_MODERATE)
+            else:
+                self._kelo_robile.set_driver_type(PlatformDriverType.COMPLIANT_STRONG)
         else:
             self._kelo_robile.set_driver_type(PlatformDriverType.VELOCITY)
diff --git a/airo-robots/setup.py b/airo-robots/setup.py
@@ -15,7 +15,7 @@
         "click",
         "airo-typing",
         "airo-spatial-algebra",
-        "airo-tulip==0.0.3",
+        "airo-tulip==0.0.4",
     ],
     packages=setuptools.find_packages(),
     package_data={"airo_robots": ["py.typed"]},