Feature rich servo controller
I'd like to write a servo controller that allows another system to offload some of the low level motion control work to the controller. This is primarily for amateur robotics applications. I'm trying to work out whether a controller implementing the features below would be replicating effort of existing open source drivers and not really worth the bother. Has anyone come across an existing controller that can some/any of the following?
- Position feedback
- Alterable traversal rate(s) changeable in real time (mid motion)
- Different seeking modes (acceleration, stall detection, hammering, error margins)
- Different communication modes (position queuing, position interrupts, upstream arrival and stall messages, etc)
- and so on...
Thanks in advance,