Motors

In Phobos, motors do not have a separate visual representation but are represented by the link that also represents the joint they are attached to. Thus, a motor's information is simply stored inside the appropriate link using the motor namespace.

Every motor in Phobos needs to specify a name, a type, and maximum values for effort and velocity (maxEffort / maxSpeed). The motor types currently supported by Phobos are PID and DC, with the former additionally specifying p, i, and d values.