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The sr_robot_lib package is where the incoming etherCAT packets are interpreted and stored in the correct structured to be made available for the controllers.

This package also contains a class which builds the etherCAT command we want to send to the hand, based on the configuration file motor_data_polling.yaml, the data is updated at different rates.

Config files

The config folder contains most of the configuration for the hand driver (except the controller configuration):

2024-07-20 14:46