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python_servoing_modes.md

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Servoing Mode

Table Of Contents

Overview

There are multiple servoing modes on the robot. A servoing mode is a mode through which commands are transmitted to robot devices during operation. Depending on the servoing mode chosen, the details involved in controlling via the API will be different.

Setting servoing mode

The RPC to set the servoing mode is in the base service

# API initialisation
base = BaseClient(router)

# Set the base in low level servoing
servoing_mode_information = Base_pb2.ServoingModeInformation()
servoing_mode_information.servoing_mode = Base_pb2.LOW_LEVEL_SERVOING
base.SetServoingMode(servoing_mode_information)

High-level servoing mode

High-level servoing is the default servoing mode for the robot on bootup.

In high-level servoing, users connect to the base through the API, sending command inputs. The base routes commands to the actuators, and manages a 1 kHz control loop.

High-level servoing is the recommended servoing mode for non-advanced users, because you have access to Cartesian movement and don't have to manage a 1kHz control loop to send commands to the robot.

Low-level servoing mode

In low-level servoing, the API client connects to the base and sends commands to the base for routing. Note that this mode does not support Cartesian commands.

The base ensures device routing and internal communications with the actuators at 1 kHz, but the high-level functionality for the base control loop (cartesian movement, robot kinematics, trajectory management, etc.) are no longer available.

Low-level servoing allows clients to control each actuator individually by sending small position increments at a 1 kHz frequency (bypassing the kinematic control library).

Note
This servoing mode is not meant to be run under Python. C++ is a much more suitable language for low-level control. Python is an interpreted language. By extension, low-level control using Python will be much more sensitive to jitter and will not guarantee a 1 kHz refresh rate.