0.6.0

Version 0.6.0

Features

• ✨ feat(interface,can_encapsulation,demo): Added serial port CAN functionality (MAC support); Added some wrapper functions
  • Added serial port CAN reading functionality:
    • Gave can_auto_init a new meaning; when it is False, the CAN bus will not be initialized, and CreateCanBus needs to be called manually.
    • Added a check in ConnectPort to see if the CAN bus is None; if it is None, a ValueError error will be reported.
    • Modified the Init function in can_encapsulation_v0_4_0 to add baud rate setting when creating the bus.
    • Added piper_set_can.py to demo.
  • Added some wrapper functions:
    • GetMotorStates is a wrapper function for GetArmHighSpdInfoMsgs, and the name has been changed to make its meaning clearer.
    • GetDriverStates is a wrapper function for GetArmLowSpdInfoMsgs, and the name has been changed to make its meaning clearer.
    • ResetPiper is a wrapper function for MotionCtrl_1, making the function of resetting the robotic arm a separate function.

Bug Fixes

None

Miscellaneous

• 📃 docs(Q&A.MD): Added explanations regarding the MIT protocol, clarifying the relationship between given torque and executed torque; added explanations regarding the value of motor feedback torque.
• 📃 docs(Q&A.MD): Added instructions on using serial port CAN in Q&A.MD
• 📃 docs(INTERFACE_V2.MD): Added descriptions of newly added functions in INTERFACE_V2.MD
• 📃 docs(asserts): Organized the images into the pictures folder