Revel Control Methods

Standard

The standard way for Revel to be controlled is through the embedded controllers within the actuators. These actuators have different control modes: position, velocity, and torque.

These are the use cases for these modes:

1. position - Used for point-to-point movements and trajectory playback
2. velocity - Used for cartesian velocity of the end effector
3. torque - Used for gravity compensation mode

Ros Control

For power users that may wish to write or use a controller that incorporates each of these, there is an experimental ros_control driver that puts the arm in torque mode. The arm then uses the ros_control implementation for Position or Velocity or Feed forward torque. This portion of the code is in active development.