Reading from Sensors

In this tutorial, we’ll show you how to read from the sensors of your open-source leg using the opensourceleg library.

Import the OpenSourceLeg Class

To use the OpenSourceLeg class, we first need to import it from the opensourceleg.osl module:

from opensourceleg.osl import OpenSourceLeg

Add a Joint Object

Once we have imported the OpenSourceLeg class, we can create an instance of the class with the desired frequency and joint configuration:

osl = OpenSourceLeg(frequency=200)
osl.add_joint(gear_ratio=9.0)

In this code, we create an OpenSourceLeg object named osl with a frequency of 200 and a joint with a gear ratio of 9.0.

Step 3: Setting Units for the position Attribute

We can set the units for the position attribute of the osl object using the units dictionary:

osl.units["position"] = "deg"
osl.log.info(osl.units)

In this code, we set the units for the position attribute to “deg” and log the units to the console.

Reading from Sensors

To read from sensors, we can use a with block to ensure that the OpenSourceLeg object is properly opened and cleaned up after use:

with osl:
    osl.knee.set_mode(osl.knee.control_modes.voltage)

    for t in osl.clock:
        osl.log.info(osl.knee.motor_position)
        osl.update()

In this code, we enter a with block that sets the mode of the knee joint to “voltage”. We then loop over the osl.clock generator, which generates a sequence of timestamps at the specified frequency, and log the motor position of the knee joint to the console at each timestamp. We then call the osl.update() method to update the state of the OpenSourceLeg object.

Warning

This code assumes that the OpenSourceLeg object is properly configured and calibrated, and that the sensors are properly connected and functioning.

Code for this tutorial

import opensourceleg.tools.units as units
from opensourceleg.osl import OpenSourceLeg

osl = OpenSourceLeg(frequency=200)
osl.add_joint(gear_ratio=9.0)

with osl:
    osl.knee.set_mode(osl.knee.control_modes.position)

    for t in osl.clock:
        osl.log.info(
            units.convert_from_default(osl.knee.motor_position, units.position.deg)
        )
        osl.update()