TUM-Aries-Lab / exosuit-python
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coverage: 88.168%. Remained the same
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Builds Branch Commit Type Ran Committer Via Coverage
35758073784 main Collect tests from tests/, not from the whole repository pytest's default patterns are "test_*.py" and "*_test.py", and with no testpaths it walks the repository root -- so scripts/hip_angle_test.py, a bench tool for reading the hip angles, is co... push NGierden github
88.17
35757731061 main Lock motor-python 0.0.11 Published from motor-module#74, which is where ensure_can_interface now lives. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> push NGierden github
88.17
35754477538 main Put the motor watchdog behind a switch MotorWatchdogConfig.enabled, shipping True. Off, the watchdog is inert: no detection, no re-enable, and the command reaches the motor exactly as the position loop produced it. A flag rather than a deletion ... push NGierden github
87.83
35622833916 main Notice when a motor stops answering, instead of commanding a dead shaft On 2026-09-21 the right motor stopped at t=8.84 s and the control loop went on commanding it up to 44 rad/s for the next 16 seconds. Nothing detected it: the fault code staye... push NGierden github
88.19
35618121623 main Add a live hip-angle readout for checking the signal's scale A 2026-09-21 walking run produced 0.53 / 0.65 rad of hip excursion where the LocomotionMode rig produces 1.29 / 1.21 at a comparable cadence -- 0.75 Hz against 0.66 -- and the filtered ... push NGierden github
88.62
35599196164 main Tune the position-loop gain for the motor this suit actually has kp came from motor_control.py, where KP_MAIN is 16.0. That rig is an AK60-6: its decode constants are P +/-12.5, V +/-45, T +/-15, an exact match for AK60_6_V1_1_MIT_LIMITS, and its... push NGierden github
88.28
35597382995 main Saturate where the rig saturates, downstream of the damping filter Checked the loop against motor_control.py line by line rather than only its constants. The gains all matched; the clamp did not. motor_control.py stores the unclipped u in _last_... push NGierden github
88.16
35589438898 main Require the motor-python that actually enables MIT mode Until 0.0.10, enable_mit_mode() could return success without ever sending FF..FC, the frame that enters motor mode. The motor accepted every command and produced no torque, which is how the ... push NGierden github
87.87
35581641443 main Record what the motors report, not just what they were told Every motor column has held NaN since the CAN switchover: _record_sample passed not_measured for torque, speed and position. So a session could show a healthy command stream and say noth... push NGierden github
87.48
35581371874 main Pace the loops on a schedule so the configured rate is the real one All three loops slept a whole period after doing their work, making every iteration take the period plus however long the work took. The loop therefore could never reach its conf... push NGierden github
87.43
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