
\subsection{shadow\_robot\_ethercat}
\label{sec:shadow-robot-ethercat-changelog}

\begin{itemize}
\item \textbf{11/04/2012 - rev. 546}: Using lowpass filter instead of alpha-beta filter for better control
\item \textbf{29/03/2012 - rev. 543}: added support for three finger hands
\item \textbf{15/03/2012 - rev. 539}: Control inputs from the host (backlash compensation on/off, sgl increase, jiggle, write eeprom, ...)
\item \textbf{14/03/2012 - rev. 538}: Switching from PWM demand to TORQUE demand on the fly.
\item \textbf{14/03/2012 - rev. 537}: Added a service to nullify the demand sent to the motor easily. This way the user can easily stop the control of the hand.
\item \textbf{16/12/2011 - rev. 532}: Rewrote bootloader
\end{itemize}