0.2.17

• Changed the parameter names of foc_status in piper_msgs/msg_v1(msg_v2)/feedback/arm_low_spd_feedback.py in two files:
  • Renamed sensor_status to collision_status
  • Renamed homing_status to stall_status
• Added type checking (must be of Python's int type) and value range checking (within joint limit range) for the JointCtrl function.
• Added type checking (must be of Python's int type) for the EndPoseCtrl function's input values
• Modified the comments in the SearchAllMotorMaxAngleSpd and SearchAllMotorMaxAccLimit functions to include CAN ID descriptions.
• Added a demo file to set and print the robotic arm's collision level piper_read_crash_protectation.py.
• Modified the arm_high_spd_feedback to set the motor_speed unit to 0.001 rad/s and the current unit to 0.001 A.
• Modified the shell script. Since the sh command does not support == for equality comparison, but bash does, changed it to use = for equality comparison. This allows the script to be used in zsh.