Torque and impedance scaling based on thermal model

[tkevinbest]

Torque and impedance scaling based on thermal model

[imsenthur]

Added support for thermal scaling! Each DephyActpack instance now calls the update_and_get_scale() method within its update() method which updates its new thermal_scaling_factor attribute that can be used to achieve thermal scaling based on the output of the thermal model.

Please checkout the dev branch [39a26c0].

[tkevinbest]

Do we want to make this a flag passed into the actuators (or maybe a flag we set true after instantiation) that automatically does the scaling when you call set current or set impedance? I'm thinking that might be safer in case someone forgets to include the scaling manually at some call.

[imsenthur]

I was thinking more on these lines:

• We want the update() method to stop/shutdown the actpacks as soon as they hit the user defined max temperature and the thermal_scaling functionality would be something used only by people who clearly understand how the current/impedance is scaled based on the thermal model.
• This way thermal_scaling can be an attribute of the actpack that anyone can use to scale their torque, current, or impedance commands and not be an argument inside set_motor_command methods. This workflow will also allow us to generalize the methods for other motors without a thermal model.

Please let me know your thoughts.

[tkevinbest]

Ok cool, so the safety is still implemented if the max temp is hit. I'm good with that!