Actuation

Servos

Description

Forwards servo commands from the Director to the Booster K1 via the Booster Robotics SDK. It provides the message::actuation::Servos task and converts it into a message::booster::BoosterLowCmd.

Usage

Install module::actuation::Servos in the powerplant, and have a module that talks to the robot's low-level controller (e.g. the Booster IO module) consume BoosterLowCmd.

Other modules request servo movement by emitting a message::actuation::Servos task. The command it carries is passed through unchanged, so any joint limiting or smoothing needs to happen before the task is emitted. The Provide runs at Priority::HIGH so commands reach the robot with minimal delay.

This module has no configuration file.

Consumes

• message::actuation::Servos as a Director task (via Provide)

Emits

• message::booster::BoosterLowCmd

Dependencies

• The Director (module/extension/Director)
• A module that sends BoosterLowCmd to the robot