This driver interfaces the microcontroller with Analog Devices AD5241/2 digital potentiometers. The AD5280/2 series are protocol compatible with AD5241/2, so the same library can be used.

Python Motor Driver for Mini Cheetah-type Actuators from T-Motor/CubeMars This driver was developed at the Underactuated Lab in Robotics Innovation Center at DFKI GmbH, Bremen. It assumes the use of a ...