.. _l1l2:

Oncilla L1 and L2
=================

The Oncilla Joints L1 and L2 provide the same (technical) interface, as they are
both realized as servo motors on the hardware platform.

L1 represents the protraction-retraction hip joint. L2 represents the
flexion-extension knee joint. Both can be controlled in position, velocity,
torque and impedance and report current angle of of the motor axis and the
magnetic encoder.

Simple joint space control of a L1 or L2 joint:

.. code-block:: cpp
   :emphasize-lines: 5,7

   Oncilla oncilla; // get robot instance
   L1::Ptr left_fore_hip = oncilla.getL1(LEFT_FORE); // get left fore l1 joint

   JointAnglesPtr command = JointAngles::fromRad(3.14); // in radians
   left_fore_hip->setJointPosition(command); // send new command

   std::cout << left_fore_hip->getJointPosition()->deg(); // get position in degrees

Refer to the API documentation of
`rci::oncilla::OncillaL1L2 <https://redmine.amarsi-project.eu/projects/quaddrivers/embedded/classrci_1_1oncilla_1_1OncillaL1L2.html>`_
for the full technical interface of these joints.