feat: add VSO robot class with unitTest

README.md

@@ -53,17 +53,20 @@ This library solves common challenges in developing, testing, and deploying robo
 
 The library currently supports the following hardware components:
 
-| Sensors              | Unit Tests | Hardware Tests | Benchmarks | Documentation |
-| -------------------- | ---------- | -------------- | ---------- | ------------- |
-| AS5048B Encoder      | ✅         | ✅             | ❌         | ✅            |
-| Lord Microstrain IMU | ✅         | ✅             | ❌         | ✅            |
-| SRI Loadcell         | ✅         | ✅             | ❌         | ✅            |
+| Sensors                 | Unit Tests  | Hardware Tests | Benchmarks | Documentation |
+| ----------------------- | ----------- | -------------- | ---------- | ------------- |
+| AS5048B Encoder         | ✅         | ✅             | ❌         | ✅            |
+| Lord Microstrain IMU    | ✅         | ✅             | ❌         | ✅            |
+| SRI Loadcell            | ✅         | ✅             | ❌         | ✅            |
+| DRV5056 Hall Effect     | ✅         | ❌             | ❌         | ❌            |
+| LS7366R Encoder Counter | ✅         | ❌             | ❌         | ❌            |
 
 | Actuators     | Unit Tests | Hardware Tests | Benchmarks | Documentation |
 | ------------- | ---------- | -------------- | ---------- | ------------- |
-| Dephy Actpack | ⚠️         | ✅             | ⚠️         | ✅            |
-| Moteus        | ⚠️         | ⚠️             | ⚠️         | ✅            |
-| TMotor        | ❌         | ⚠️             | ❌         | ❌            |
+| Dephy Actpack | ⚠️         | ✅             | ⚠️         | ✅           |
+| Moteus        | ⚠️         | ⚠️             | ⚠️         | ✅           |
+| TMotor        | ❌         | ⚠️             | ❌         | ❌           |
+| Brushed Maxon | ✅         | ⚠️             | ❌         | ❌           |
 
 > Legend: ✅ Complete/Available; ⚠️ Partial/In Progress; ❌ Not Yet Available;
 

opensourceleg/actuators/base.py

@@ -1204,3 +1204,51 @@ def is_streaming(self) -> bool:
             True
         """
         return self._is_streaming
+
+
+class UnsupportedControlModeError(NotImplementedError):
+    """Raised when a control capability the actuator lacks is invoked."""
+
+
+class PositionControlActuatorBase(ActuatorBase):
+    """ActuatorBase specialized to position control only.
+
+    Voltage, current, torque, and impedance methods are satisfied here once so
+    subclasses don't have to. They raise UnsupportedControlModeError if ever
+    called, and the corresponding telemetry properties do the same. Everything
+    else (position control, lifecycle, telemetry, mode machinery) is inherited
+    unchanged from ActuatorBase.
+    """
+
+    def set_motor_voltage(self, value: float) -> None:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not support voltage control.")
+
+    def set_motor_current(self, value: float) -> None:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not support current control.")
+
+    def set_motor_impedance(self, value: float) -> None:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not support impedance control.")
+
+    def set_motor_torque(self, value: float) -> None:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not support torque control.")
+
+    def set_output_torque(self, value: float) -> None:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not support torque control.")
+
+    def set_current_gains(self, kp: float, ki: float, kd: float, ff: float) -> None:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not support current control.")
+
+    def _set_impedance_gains(self, k: float, b: float) -> None:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not support impedance control.")
+
+    @property
+    def motor_voltage(self) -> float:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not measure motor voltage.")
+
+    @property
+    def motor_current(self) -> float:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not measure motor current.")
+
+    @property
+    def motor_torque(self) -> float:
+        raise UnsupportedControlModeError(f"{type(self).__name__} does not measure motor torque.")