Current-based position controller

Use the following template to help create your post:

  1. What model of servo are you using?
    XL330-M288T

  2. Describe your control environment. This includes the controller or interface, and any power source.
    OpenRB-150

  3. Specify the operating mode for applicable models, and any firmware settings you are using.
    Current-based position mode

  4. Include pictures if possible.

  5. Include a full description of the issue.
    It’s not an issue, actually is a missing feature that would make this operating mode really great. Many control applications in robotics, require a user-defined torque (or current) i.e. for feedback linealization. So my suggestion is to add another field in this mode that allows the user to specify an additional current to the one provided by the PID. I hope you can include this suggestion in future firmware updates.

I know that what I am suggesting can be done via current mode by implementing a custom controller on the OpenRB-150, but I prefer to keep as simple the code as possible and leave servo MCU to be in charge of the actual low-level control.

Thank you.