opensourceleg: v3.4.2

3.4.2 (2025-10-13)

Bug Fixes

• add basic mock dephy class for unit tests (e005704)
• move derived actuator constants to calculated properties instead… (136799b)
• remove support for python 3.10 (63f8a89)
• remove support for python 3.10 (14093d2)

opensourceleg: v3.4.1

3.4.1 (2025-09-19)

Bug Fixes

• remove unused commented lines (f4450df)
• update homing tutorial for new callbacks (6f8bfb1)

opensourceleg: v3.4.0

3.4.0 (2025-08-28)

Features

• add offline tutorial for osl (e397081)
• move offline mode methods to a common module to make it generalizeable across actuators and sensors (f2d2437)
• offline mode, fixes #266 (141039d)

Bug Fixes

• add i2t fault counts and thresholds to overcome pseudo ex bit triggers (f92be1f)
• limit number of attempts in ADC's update method to 1000 (042afe5)
• move FOS to I2R term instead of I; add generalized _filter_sensor method (8ae963f)
• move pi3hat warning to MoteusInterface (dae3db6)
• mypy errors on base (87b3634)
• refactor units' classes and methods in walking_compiled_controller example script (8ff3a5f)
• remove statistical outlier detection, use min-max bounds only; add consecutive fault count tracking for current and case temp; throw an exception if data packets are corrupted for more than half a second (6abf422)
• remove WMA filter (8ded24a)
• reset fault count to zero for every successful data read; move status-ex fault checking to a separate method (8c5a6fa)
• update thermal model unit tests (e87b86c)
• update unit tests for thermal model and add a few more test (7a98d07)

Documentation

• remove deprecated mkdocs option; address docs-test errors (b928bf4)

opensourceleg: v3.3.0

3.3.0 (2025-07-24)

Features

• [Moteus Interface] Pi3Hat Update and Stop Feature to be Improved #258 (c3f32a9)
• ability to untrack multiple vars as a list. (5294194)
• add context manager option to profiler. Updates required docs and tests (a193f21)
• add doc for basic motion example (0c4da4c)
• add docs and tutorial on softstart (3a8057c)
• add docs for compiled controller (576701c)
• add docs for compiled FSM controllers (1d47f63)
• add docs for fsm example walking controller python implementation (1f48651)
• add examples, tutorials, getting started docs (27c53ba)
• add exception for broken load cell wire detected (21fbd7d)
• add iterators and with context (0fd091c)
• add methods to scale state machine (0e9fcaf)
• add more logger docs (a99c33b)
• add new banner (8803f4d)
• add repography plots to README (7f602ae)
• add sensor tutorial files (186a1e7)
• add signal generator framework (44a1035)
• add softstart tutorial (9c40cfd)
• add tests and tutorials for generators module; modify data replay generator to support interpolation; allow kwargs within update calls; modify behavior of expression evaluator class to accept eval time variables (3eb287f)
• add thread safety to logger (551a84e)
• add time tutorials (51b2c57)
• added ability to pass multiple variables to the logger track_variable method (867d4f8)
• added docs for profiler (34c7015)
• added example docstrings to profiler.py (33a85ec)
• added heirarchical structure for documentation (49792a6)
• added method for tracking attributes of object. (21e41de)
• added more logger unit tests (838c96c)
• added unit tests for logger methods. (5408818)
• docs for state machine (6fc6323)
• include encoder map calls to actuators (9646620)
• initial add of dephy loadcell amp via actpack (1cd56a5)
• initial commit of fsm basic tutorial (0bf0697)
• initial commit of profiling code. (b67e393)
• minor overhaul of srtl. Now includes default non original phase (841b314)
• more examples for actuators module (53340e2)
• move smbus from communication extra to native (6e0505b)
• new fsm controller and a torque trajectory controller example (caeb3ec)
• test fsm controller with hardware (446685b)
• transition to uv for development (1860e77)
• updated docstrings in softrealtimeloop (a7ef25f)
• updates to profiler unit tests. (927715d)
• upgrade fsm to support general use cases (54b65b8)

Bug Fixes

• add authorship to logger (f2be55c)
• add docs on softrealtimeloop for two operating modes (88d8e4b)
• add gear ratio as a global var and add method to assign stream terminator (6c38e42)
• add knee trajectories to example script (82d3870)
• add methods to set update parameters separately (43bf78a)
• add more info to add_transition and update methods' docstrings about transition precedence (1b76710)
• add tag and init to sensor base, add create_joint_mappings method to osl robot class (e4cd0da)
• added profiler to init. (1cc76a2)
• bug in profiler t0 (4d39347)
• change type union to make tox happy (52504e8)
• clean up torque trajectory example (b36168a)
• docs path fix and removed old fsm tests (dc36bd1)
• docs update (ba80c8e)
• docs update and add del method to logger (2b3e16d)
• docstring (e152658)
• file_name was set to empty string in set_file_name method (ecdbd77)
• fix #347 and update fsm example to include actuator tags (39a2dee)
• fix #347 and update fsm example to include actuator tags (11d3f3c)
• fixes #354 (74d0b2f)
• handle scenario where actuator does not have a make_encoder_map func (1d2fc08)
• inherit from encoder base ([3a07c5f](3a07c5f...