35207496574
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Ran 17 Sep 2026 09:54AM UTC

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Files 13

Run time 1min

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Committed 17 Sep 2026 09:52AM UTC coverage: 72.586%. Remained the same

Build # 35207496574

Build Type

push

github

Committed by

NGierden

Commit Message

Bring CLAUDE.md in line with the CAN implementation

The file still described the package as a UART driver, and stated as a key
design decision that the V3 uses UART "unlike V1.1 which used CAN" — the
reverse of how the package now works. CAN with Force Control Mode is the
active path for all three motors; UART is a legacy implementation that is
still shipped but not used.

Corrected alongside that:
- the module list showed 7 of the 17 files in src/motor_python
- the Motor Commands table listed UART opcodes
- the Safety Limits list did not match the current MotorLimits
- the conventions pointer named code-review.md, not code-review-nathalie.md
- How to Run predated the Makefile targets and setup_can.sh

Added what someone touching this package needs and could not find here: the
base-class / AK60-6 V3 override split, the extended versus standard frame
table, the per-motor MIT encoding ranges, and a note that kp is commanded as
zero on every velocity path, which makes mit_velocity_kd the entire gain of
the inner velocity loop.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

Coverage Stats

1496 of 2061 relevant lines covered (72.59%)

0.73 hits per line

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ID	Job ID	Ran	Files	Coverage
1	35207496574.1	17 Sep 2026 09:54AM UTC	13	72.59	GitHub Action Run

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TUM-Aries-Lab / motor-module / 35207496574 74%

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