Motor Control

• shoulder_pitch: ±90°
• shoulder_roll: -30° to +120°
• elbow_pitch: 0° to -150°
• wrist_yaw: ±60°

Legs (5 DOF each)

• hip_pitch: ±90°
• hip_roll: ±30°
• knee_pitch: 0° to -150°
• ankle_pitch: ±45°
• ankle_roll: ±30°

Usage

# Set hand position
result = registry.call('motor-control', {
    'action': 'set_pose',
    'end_effector': 'right_hand',
    'position': [0.3, -0.2, 0.1]  # x, y, z in meters
})

# Update and generate commands
result = registry.call('motor-control', {
    'action': 'update',
    'dt': 0.016
})

# BCSA V4 commands ready to send
commands = result['commands']

Integration

Connects to BCSA V4 actuators via CAN bus:

• Baud rate: 1 Mbps
• Protocol: BCSA native
• Update rate: 60 Hz
• Torque control mode

Safety

• Joint limits enforced in software
• Velocity limits prevent damage
• Emergency stop via brain command
• Position feedback for closed-loop control