diff --git a/CMakeLists.txt b/CMakeLists.txt
index ac179ac15..7c68974f1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -143,42 +143,40 @@ target_link_libraries(lie PUBLIC MANIF::manif)
## ESW
-if (NOT APPLE)
- mrover_add_vendor_header_only_library(moteus deps/mjbots)
- mrover_add_header_only_library(can_device src/esw/can_device)
- mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
- target_link_libraries(motor_library PUBLIC can_device moteus)
-
- if (NetLink_FOUND AND NetLinkRoute_FOUND)
- mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
- mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
- mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
- endif ()
-
- macro(mrover_add_esw_bridge_node name sources)
- mrover_add_node(${name} ${sources})
- target_link_libraries(${name} PRIVATE can_device motor_library)
- endmacro()
-
- mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
- mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
- mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
- mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
- mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
- mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
- mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
- mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
- mrover_add_esw_bridge_node(sa_hw_bridge src/esw/sa_hw_bridge/*.cpp)
- mrover_add_esw_bridge_node(sa_translator_bridge src/esw/sa_translator_bridge/*.cpp)
- mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
- mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp motor_library)
- mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
- mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
- mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
- mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
- # mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
+mrover_add_vendor_header_only_library(moteus deps/mjbots)
+mrover_add_header_only_library(can_device src/esw/can_device)
+mrover_add_library(motor_library src/esw/motor_library/*.cpp src/esw/motor_library)
+target_link_libraries(motor_library PUBLIC can_device moteus)
+
+if (NetLink_FOUND AND NetLinkRoute_FOUND)
+ mrover_add_nodelet(can_driver src/esw/can_driver/*.cpp src/esw/can_driver src/esw/can_driver/pch.hpp)
+ mrover_nodelet_link_libraries(can_driver ${NetLink_LIBRARIES} ${NetLinkRoute_LIBRARIES})
+ mrover_nodelet_include_directories(can_driver ${NetLink_INCLUDE_DIRS} ${NetLinkRoute_INCLUDE_DIRS})
endif ()
+macro(mrover_add_esw_bridge_node name sources)
+ mrover_add_node(${name} ${sources})
+ target_link_libraries(${name} PRIVATE can_device motor_library)
+endmacro()
+
+mrover_add_esw_bridge_node(arm_hw_bridge src/esw/arm_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(arm_translator_bridge src/esw/arm_translator_bridge/*.cpp src/esw/arm_translator_bridge/*.hpp)
+mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
+mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
+mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
+mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
+mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
+mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
+mrover_add_esw_bridge_node(sa_bridge src/esw/sa_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
+mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(science_test_bridge src/esw/science_test_bridge/*.cpp)
+mrover_add_esw_bridge_node(test_arm_bridge src/esw/test_arm_bridge/*.cpp)
+mrover_add_esw_bridge_node(pdb_test_bridge src/esw/pdb_test_bridge/*.cpp)
+# mrover_add_esw_bridge_node(arm_position_test_bridge src/esw/arm_position_test_bridge/*.cpp)
+# mrover_add_esw_bridge_node(sa_sensor src/esw/fw/dirt_sensor/dirt_sensor_ros/dirt_sensor_ros.ino)
+
## Perception
mrover_add_library(websocket_server src/esw/websocket_server/*.cpp src/esw/websocket_server)
diff --git a/ansible/roles/jetson_build/tasks/main.yml b/ansible/roles/jetson_build/tasks/main.yml
index e4258e594..9736001c0 100644
--- a/ansible/roles/jetson_build/tasks/main.yml
+++ b/ansible/roles/jetson_build/tasks/main.yml
@@ -23,17 +23,17 @@
state: latest
name:
- zstd # Required to unpack ZED installer
- - cuda
+ - cuda-12-3
- nvidia-jetpack
- name: ZED SDK Download
get_url:
- url: https://download.stereolabs.com/zedsdk/4.0/l4t35.4/jetsons
- dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run
+ url: https://download.stereolabs.com/zedsdk/4.1/l4t35.4/jetsons
+ dest: /tmp/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run
mode: 0755
- name: ZED SDK Install
# Silent mode prevents any user input prompting
- command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.0.7.zstd.run -- silent
+ command: /tmp/Downloads/ZED_SDK_Tegra_L4T35.4_v4.1.zstd.run -- silent
args:
creates: /usr/local/zed
diff --git a/ansible/roles/jetson_services/files/99-usb-serial.rules b/ansible/roles/jetson_services/files/99-usb-serial.rules
deleted file mode 100644
index dfdc52298..000000000
--- a/ansible/roles/jetson_services/files/99-usb-serial.rules
+++ /dev/null
@@ -1,2 +0,0 @@
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", SYMLINK+="raman"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0043", SYMLINK+="auton_led"
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.service b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.service
deleted file mode 100644
index 7480d3f85..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.service
+++ /dev/null
@@ -1,9 +0,0 @@
-[Unit]
-Description=Base Station Gstreamer Service 0
-
-[Service]
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/mrover/.Xauthority"
-User=mrover
-ExecStart=/usr/bin/gst-launch-1.0 udpsrc port=5000 ! "application/x-rtp, encoding-name=(string)H264, payload=96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
-Restart=on-failure
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.timer b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.timer
deleted file mode 100644
index 402352bf1..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-0.timer
+++ /dev/null
@@ -1,5 +0,0 @@
-[Timer]
-OnBootSec=20s
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.service b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.service
deleted file mode 100644
index 1032633da..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.service
+++ /dev/null
@@ -1,9 +0,0 @@
-[Unit]
-Description=Base Station Gstreamer Service 1
-
-[Service]
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/mrover/.Xauthority"
-User=mrover
-ExecStart=/usr/bin/gst-launch-1.0 udpsrc port=5001 ! "application/x-rtp, encoding-name=(string)H264, payload=96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
-Restart=on-failure
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.timer b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.timer
deleted file mode 100644
index 402352bf1..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-1.timer
+++ /dev/null
@@ -1,5 +0,0 @@
-[Timer]
-OnBootSec=20s
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.service b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.service
deleted file mode 100644
index deb6543dc..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.service
+++ /dev/null
@@ -1,9 +0,0 @@
-[Unit]
-Description=Base Station Gstreamer Service 2
-
-[Service]
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/mrover/.Xauthority"
-User=mrover
-ExecStart=/usr/bin/gst-launch-1.0 udpsrc port=5002 ! "application/x-rtp, encoding-name=(string)H264, payload=96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
-Restart=on-failure
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.timer b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.timer
deleted file mode 100644
index 402352bf1..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-2.timer
+++ /dev/null
@@ -1,5 +0,0 @@
-[Timer]
-OnBootSec=20s
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.service b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.service
deleted file mode 100644
index 06be0fc58..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.service
+++ /dev/null
@@ -1,9 +0,0 @@
-[Unit]
-Description=Base Station Gstreamer Service 3
-
-[Service]
-Environment="DISPLAY=:1"
-Environment="XAUTHORITY=/home/mrover/.Xauthority"
-User=mrover
-ExecStart=/usr/bin/gst-launch-1.0 udpsrc port=5003 ! "application/x-rtp, encoding-name=(string)H264, payload=96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
-Restart=on-failure
\ No newline at end of file
diff --git a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.timer b/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.timer
deleted file mode 100644
index 402352bf1..000000000
--- a/ansible/roles/jetson_services/files/rover-base-station-gstreamer-3.timer
+++ /dev/null
@@ -1,5 +0,0 @@
-[Timer]
-OnBootSec=20s
-
-[Install]
-WantedBy=multi-user.target
\ No newline at end of file
diff --git a/config/esw.yaml b/config/esw.yaml
index 6ef3bc7dd..b29b86477 100644
--- a/config/esw.yaml
+++ b/config/esw.yaml
@@ -24,22 +24,22 @@ can:
bus: 3
id: 0x10
- name: "front_left"
- bus: 0
+ bus: 2
id: 0x12
- name: "front_right"
- bus: 0
+ bus: 2
id: 0x11
- name: "middle_left"
- bus: 0
+ bus: 2
id: 0x14
- name: "middle_right"
- bus: 0
+ bus: 2
id: 0x13
- name: "back_left"
- bus: 0
+ bus: 2
id: 0x16
- name: "back_right"
- bus: 0
+ bus: 2
id: 0x15
- name: "joint_a"
bus: 1
@@ -96,35 +96,28 @@ can:
brushless_motors:
controllers:
front_left:
- velocity_multiplier: -1.0
- min_velocity: -70.0
- max_velocity: 70.0
+ min_velocity: -11.0
+ max_velocity: 11.0
front_right:
- velocity_multiplier: 1.0
- min_velocity: -70.0
- max_velocity: 70.0
+ min_velocity: -11.0
+ max_velocity: 11.0
middle_left:
- velocity_multiplier: -1.0
- min_velocity: -70.0
- max_velocity: 70.0
+ min_velocity: -11.0
+ max_velocity: 11.0
middle_right:
- velocity_multiplier: 1.0
- min_velocity: -70.0
- max_velocity: 70.0
+ min_velocity: -11.0
+ max_velocity: 11.0
back_left:
- velocity_multiplier: -1.0
- min_velocity: -70.0
- max_velocity: 70.0
+ min_velocity: -11.0
+ max_velocity: 11.0
back_right:
- velocity_multiplier: 1.0
- min_velocity: -70.0
- max_velocity: 70.0
+ min_velocity: -11.0
+ max_velocity: 11.0
joint_a:
- velocity_multiplier: 1.0
- min_velocity: -100.0
- max_velocity: 100.0
- is_linear: true
- rad_to_meters_ratio: 1236.8475 # 5.0 = 5 motor radians -> 1 meter
+ # 1236.8475 rad/meter, or 196.850393476 rev/meter, and we want a max vel of 40 meter/s.
+ # gear ratio is currently at 0.005080 revolutions = 1 meter
+ min_velocity: -0.10 # this means -0.10 meters per second.
+ max_velocity: 0.10
limit_0_present: true
limit_1_present: true
limit_0_enabled: true
@@ -135,32 +128,33 @@ brushless_motors:
limit_1_is_active_high: false
limit_0_used_for_readjustment: true
limit_1_used_for_readjustment: true
- limit_0_readjust_position: 0.0 # radians TODO
- limit_1_readjust_position: 494.739 # radians
+ limit_0_readjust_position: 0.4
+ limit_1_readjust_position: 0.0
limit_max_forward_pos: true
limit_max_backward_pos: true
max_forward_pos: 0.4
max_backward_pos: 0.0
+ max_torque: 20.0
joint_c:
- velocity_multiplier: -1.0
- min_velocity: -0.6 # gear ratio: 484:1
- max_velocity: 0.6
- min_position: 0.0
- max_position: 3.8 # 220 degrees of motion
+ min_velocity: -0.08 # in terms of output
+ max_velocity: 0.08 # max output shaft speed: 5 rpm (for now)
+ min_position: -0.125
+ max_position: 0.30 # 220 degrees of motion is the entire range
joint_de_0:
- velocity_multiplier: 1.0
- min_velocity: -67.0
- max_velocity: 67.0
+ min_velocity: -5.0
+ max_velocity: 5.0
+ min_position: -10000.0
+ max_position: 10000.0
+ max_torque: 20.0
joint_de_1:
- velocity_multiplier: 1.0
- min_velocity: -67.0
- max_velocity: 67.0
+ min_velocity: -5.0
+ max_velocity: 5.0
+ min_position: -10000.0
+ max_position: 10000.0
+ max_torque: 20.0
sa_z:
- velocity_multiplier: 1.0
- min_velocity: -100.0
- max_velocity: 100.0
- is_linear: true
- rad_to_meters_ratio: 157.48 #rad/m
+ min_velocity: -0.05
+ max_velocity: 0.05
limit_0_present: false
limit_1_present: false
limit_0_enabled: true
@@ -173,10 +167,7 @@ brushless_motors:
limit_1_used_for_readjustment: true
limit_0_readjust_position: 0.0 # radians TODO
limit_1_readjust_position: 0.0 # radians TODO
- max_torque: 0.5
-joint_de:
- pitch_offset: 0.0
- roll_offset: 0.0
+ max_torque: 30.0
brushed_motors:
controllers:
@@ -221,16 +212,15 @@ brushed_motors:
# max_backward_pos: 0.0
# calibration_throttle: 5.0
joint_b:
- velocity_multiplier: 1.0
+ is_inverted: False
gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
limit_0_present: true
limit_0_enabled: true
limit_0_is_active_high: false
limit_0_limits_fwd: false
- limit_0_used_for_readjustment: true
+ limit_0_used_for_readjustment: false
abs_present: true
abs_is_fwd_polarity: true
- limit_0_readjust_position: -0.7853981633974483 # radians
abs_ratio: 1.0 # encoder ratio compared to motor
abs_offset: 0.0 # 0 for joint position corresponds to this radians reading by absolute encoder
driver_voltage: 12.0 # used to calculate max pwm
@@ -242,7 +232,6 @@ brushed_motors:
max_velocity: 1.0
calibration_throttle: 0.5 # throttle during calibration
allen_key:
- velocity_multiplier: 1.0
gear_ratio: 30.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
limit_0_present: true
limit_1_present: true
@@ -261,9 +250,8 @@ brushed_motors:
quad_ratio: 1.0 # encoder ratio compared to motor
driver_voltage: 12.0 # used to calculate max pwm
motor_max_voltage: 12.0 # used to calculate max pwm
- calibration_throttle: 0.5 # throttle during calibration
+ calibration_throttle: 0.9 # throttle during calibration, does not move unless close to max voltage
gripper:
- velocity_multiplier: 1.0
gear_ratio: 47.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
quad_present: false
quad_is_fwd_polarity: true
@@ -274,19 +262,15 @@ brushed_motors:
motor_max_voltage: 12.0 # used to calculate max pwm
calibration_throttle: 0.5 # throttle during calibration
mast_gimbal_y:
- velocity_multiplier: 1.0
gear_ratio: 1000.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
driver_voltage: 12.0 # used to calculate max pwm
motor_max_voltage: 12.0 # used to calculate max pwm
mast_gimbal_z:
- velocity_multiplier: 1.0
gear_ratio: 1000.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
driver_voltage: 12.0 # used to calculate max pwm
motor_max_voltage: 12.0 # used to calculate max pwm
sa_x:
- velocity_multiplier: 1.0
gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
- is_linear: true
rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
limit_0_present: false
limit_1_present: false
@@ -314,12 +298,10 @@ brushed_motors:
max_velocity: 1.0
calibration_throttle: 0.5 # throttle during calibration
sa_y:
- velocity_multiplier: -1.0
gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
- is_linear: true
rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
- limit_0_present: false
- limit_1_present: false
+ limit_0_present: true
+ limit_1_present: true
limit_0_enabled: true
limit_1_enabled: true
limit_0_is_active_high: false
@@ -340,7 +322,6 @@ brushed_motors:
calibration_throttle: 0.5 # throttle during calibration
sampler:
gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
- is_linear: true
rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
limit_0_present: false
limit_1_present: false
@@ -361,7 +342,6 @@ brushed_motors:
motor_max_voltage: 6.0 # used to calculate max pwm
calibration_throttle: 0.5 # throttle during calibration
sensor_actuator:
- velocity_multiplier: 1.0
gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
limit_0_present: false
limit_1_present: false
@@ -378,7 +358,6 @@ brushed_motors:
driver_voltage: 12.0 # used to calculate max pwm
motor_max_voltage: 6.0 # used to calculate max pwm
cache:
- velocity_multiplier: 1.0
gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
limit_0_present: false
limit_1_present: false
@@ -540,24 +519,25 @@ motors_group:
- "mast_gimbal_z"
cache:
- "cache_motor"
- sa_hw:
+ sa:
- "sa_x"
- "sa_y"
- "sa_z"
- "sampler"
- "sensor_actuator"
- drive:
+ drive_left:
- "front_left"
- - "front_right"
- "middle_left"
- - "middle_right"
- "back_left"
+ drive_right:
+ - "front_right"
+ - "middle_right"
- "back_right"
motors:
controllers:
joint_a:
- type: "brushless"
+ type: "brushless_linear"
joint_b:
type: "brushed"
joint_c:
diff --git a/config/moteus/de0/reads_position.config b/config/moteus/de0/reads_position.config
deleted file mode 100644
index 1c9a1d255..000000000
--- a/config/moteus/de0/reads_position.config
+++ /dev/null
@@ -1,1283 +0,0 @@
-le.11 0.000000
-motor_position.sources.0.compensation_table.12 0.000000
-motor_position.sources.0.compensation_table.13 0.000000
-motor_position.sources.0.compensation_table.14 0.000000
-motor_position.sources.0.compensation_table.15 0.000000
-motor_position.sources.0.compensation_table.16 0.000000
-motor_position.sources.0.compensation_table.17 0.000000
-motor_position.sources.0.compensation_table.18 0.000000
-motor_position.sources.0.compensation_table.19 0.000000
-motor_position.sources.0.compensation_table.20 0.000000
-motor_position.sources.0.compensation_table.21 0.000000
-motor_position.sources.0.compensation_table.22 0.000000
-motor_position.sources.0.compensation_table.23 0.000000
-motor_position.sources.0.compensation_table.24 0.000000
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-motor.cogging_dq_comp.1014 0
-motor.cogging_dq_comp.1015 0
-motor.cogging_dq_comp.1016 0
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-motor.cogging_dq_comp.1019 0
-motor.cogging_dq_comp.1020 0
-motor.cogging_dq_comp.1021 0
-motor.cogging_dq_comp.1022 0
-motor.cogging_dq_comp.1023 0
-drv8323_conf.dis_cpuv 0
-drv8323_conf.dis_gdf 0
-drv8323_conf.otw_rep 0
-drv8323_conf.pwm_mode 1
-drv8323_conf.pwm_1x_asynchronous 0
-drv8323_conf.pwm_1x_dir 0
-drv8323_conf.idrivep_hs_ma 150
-drv8323_conf.idriven_hs_ma 300
-drv8323_conf.cbc 1
-drv8323_conf.tdrive_ns 1000
-drv8323_conf.idrivep_ls_ma 150
-drv8323_conf.idriven_ls_ma 300
-drv8323_conf.tretry 0
-drv8323_conf.dead_time_ns 50
-drv8323_conf.ocp_mode 0
-drv8323_conf.ocp_deg_us 4
-drv8323_conf.vds_lvl_mv 700
-drv8323_conf.csa_fet 0
-drv8323_conf.vref_div 1
-drv8323_conf.ls_ref 0
-drv8323_conf.csa_gain 20
-drv8323_conf.dis_sen 0
-drv8323_conf.sen_lvl_mv 500
-servo.pwm_rate_hz 30000
-servo.i_gain 20.000000
-servo.current_sense_ohm 0.000500
-servo.pwm_comp_off 0.027000
-servo.pwm_comp_mag 0.005000
-servo.pwm_scale 1.000000
-servo.max_voltage 56.000000
-servo.max_power_W 450.000000
-servo.derate_temperature 50.000000
-servo.fault_temperature 75.000000
-servo.enable_motor_temperature 0
-servo.motor_derate_temperature 50.000000
-servo.motor_fault_temperature nan
-servo.velocity_threshold 0.000000
-servo.position_derate 0.020000
-servo.adc_cur_cycles 2
-servo.adc_aux_cycles 47
-servo.pid_dq.kp 1.392894
-servo.pid_dq.ki 2666.149170
-servo.pid_position.kp 0.000000
-servo.pid_position.ki 0.000000
-servo.pid_position.kd 0.000000
-servo.pid_position.iratelimit -1.000000
-servo.pid_position.ilimit 0.000000
-servo.pid_position.max_desired_rate 0.000000
-servo.pid_position.sign -1
-servo.current_feedforward 1.000000
-servo.bemf_feedforward 1.000000
-servo.default_velocity_limit nan
-servo.default_accel_limit nan
-servo.voltage_mode_control 0
-servo.fixed_voltage_mode 0
-servo.fixed_voltage_control_V 0.000000
-servo.max_position_slip nan
-servo.max_velocity_slip nan
-servo.default_timeout_s 0.100000
-servo.timeout_max_torque_Nm 5.000000
-servo.timeout_mode 12
-servo.flux_brake_min_voltage 53.000000
-servo.flux_brake_resistance_ohm 0.025000
-servo.max_current_A 2.000000
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-servo.max_velocity 500.000000
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-servo.velocity_zero_capture_threshold 0.050000
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-
diff --git a/config/moteus/de1/old.config b/config/moteus/de1/old.config
deleted file mode 100644
index f44764268..000000000
--- a/config/moteus/de1/old.config
+++ /dev/null
@@ -1,1399 +0,0 @@
-uuid.uuid.0 210
-uuid.uuid.1 42
-uuid.uuid.2 55
-uuid.uuid.3 197
-uuid.uuid.4 115
-uuid.uuid.5 183
-uuid.uuid.6 70
-uuid.uuid.7 194
-uuid.uuid.8 179
-uuid.uuid.9 54
-uuid.uuid.10 50
-uuid.uuid.11 137
-uuid.uuid.12 91
-uuid.uuid.13 149
-uuid.uuid.14 200
-uuid.uuid.15 194
-clock.hsitrim 64
-aux1.i2c.i2c_hz 400000
-aux1.i2c.i2c_mode 1
-aux1.i2c.pullup 1
-aux1.i2c.devices.0.type 1
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-aux1.i2c.devices.0.poll_rate_us 1000
-aux1.i2c.devices.1.type 0
-aux1.i2c.devices.1.address 64
-aux1.i2c.devices.1.poll_rate_us 1000
-aux1.i2c.devices.2.type 0
-aux1.i2c.devices.2.address 64
-aux1.i2c.devices.2.poll_rate_us 1000
-aux1.spi.mode 1
-aux1.spi.rate_hz 12000000
-aux1.spi.filter_us 64
-aux1.spi.bct 0
-aux1.uart.mode 0
-aux1.uart.baud_rate 115200
-aux1.uart.poll_rate_us 100
-aux1.uart.rs422 0
-aux1.uart.cui_amt21_address 84
-aux1.quadrature.enabled 0
-aux1.quadrature.cpr 16384
-aux1.hall.enabled 0
-aux1.hall.polarity 0
-aux1.index.enabled 0
-aux1.sine_cosine.enabled 0
-aux1.sine_cosine.common 1700
-aux1.i2c_startup_delay_ms 30
-aux1.pins.0.mode 0
-aux1.pins.0.pull 0
-aux1.pins.1.mode 0
-aux1.pins.1.pull 0
-aux1.pins.2.mode 0
-aux1.pins.2.pull 0
-aux1.pins.3.mode 13
-aux1.pins.3.pull 1
-aux1.pins.4.mode 13
-aux1.pins.4.pull 1
-aux2.i2c.i2c_hz 400000
-aux2.i2c.i2c_mode 1
-aux2.i2c.pullup 0
-aux2.i2c.devices.0.type 0
-aux2.i2c.devices.0.address 64
-aux2.i2c.devices.0.poll_rate_us 1000
-aux2.i2c.devices.1.type 0
-aux2.i2c.devices.1.address 64
-aux2.i2c.devices.1.poll_rate_us 1000
-aux2.i2c.devices.2.type 0
-aux2.i2c.devices.2.address 64
-aux2.i2c.devices.2.poll_rate_us 1000
-aux2.spi.mode 1
-aux2.spi.rate_hz 12000000
-aux2.spi.filter_us 64
-aux2.spi.bct 0
-aux2.uart.mode 0
-aux2.uart.baud_rate 115200
-aux2.uart.poll_rate_us 100
-aux2.uart.rs422 0
-aux2.uart.cui_amt21_address 84
-aux2.quadrature.enabled 0
-aux2.quadrature.cpr 16384
-aux2.hall.enabled 1
-aux2.hall.polarity 0
-aux2.index.enabled 0
-aux2.sine_cosine.enabled 0
-aux2.sine_cosine.common 1700
-aux2.i2c_startup_delay_ms 30
-aux2.pins.0.mode 6
-aux2.pins.0.pull 1
-aux2.pins.1.mode 6
-aux2.pins.1.pull 1
-aux2.pins.2.mode 6
-aux2.pins.2.pull 1
-aux2.pins.3.mode 0
-aux2.pins.3.pull 0
-aux2.pins.4.mode 0
-aux2.pins.4.pull 0
-motor_position.sources.0.aux_number 2
-motor_position.sources.0.type 4
-motor_position.sources.0.i2c_device 0
-motor_position.sources.0.incremental_index -1
-motor_position.sources.0.cpr 42
-motor_position.sources.0.offset -1.000000
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-motor_position.sources.0.debug_override -1
-motor_position.sources.0.reference 0
-motor_position.sources.0.pll_filter_hz 100.000000
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-motor_position.sources.1.aux_number 1
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-motor_position.sources.1.reference 1
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-motor_position.sources.2.aux_number 1
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-motor_position.sources.2.cpr 16384
-motor_position.sources.2.offset 0.000000
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-motor_position.sources.2.debug_override -1
-motor_position.sources.2.reference 0
-motor_position.sources.2.pll_filter_hz 400.000000
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-motor_position.commutation_source 0
-motor_position.output.source 0
-motor_position.output.offset 0.000000
-motor_position.output.sign 1
-motor_position.output.reference_source -1
-motor_position.rotor_to_output_ratio 1.000000
-motor.poles 14
-motor.phase_invert 0
-motor.resistance_ohm 2.629306
-motor.v_per_hz 0.504131
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-motor.offset.63 0.000000
-motor.rotation_current_cutoff_A 10000.000000
-motor.rotation_current_scale 0.050000
-motor.rotation_torque_scale 14.700000
-motor.cogging_dq_scale 0.000000
-motor.cogging_dq_comp.0 0
-motor.cogging_dq_comp.1 0
-motor.cogging_dq_comp.2 0
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-motor.cogging_dq_comp.1020 0
-motor.cogging_dq_comp.1021 0
-motor.cogging_dq_comp.1022 0
-motor.cogging_dq_comp.1023 0
-drv8323_conf.dis_cpuv 0
-drv8323_conf.dis_gdf 0
-drv8323_conf.otw_rep 0
-drv8323_conf.pwm_mode 1
-drv8323_conf.pwm_1x_asynchronous 0
-drv8323_conf.pwm_1x_dir 0
-drv8323_conf.idrivep_hs_ma 150
-drv8323_conf.idriven_hs_ma 300
-drv8323_conf.cbc 1
-drv8323_conf.tdrive_ns 1000
-drv8323_conf.idrivep_ls_ma 150
-drv8323_conf.idriven_ls_ma 300
-drv8323_conf.tretry 0
-drv8323_conf.dead_time_ns 50
-drv8323_conf.ocp_mode 0
-drv8323_conf.ocp_deg_us 4
-drv8323_conf.vds_lvl_mv 700
-drv8323_conf.csa_fet 0
-drv8323_conf.vref_div 1
-drv8323_conf.ls_ref 0
-drv8323_conf.csa_gain 20
-drv8323_conf.dis_sen 0
-drv8323_conf.sen_lvl_mv 500
-servo.pwm_rate_hz 30000
-servo.i_gain 20.000000
-servo.current_sense_ohm 0.000500
-servo.pwm_comp_off 0.027000
-servo.pwm_comp_mag 0.005000
-servo.pwm_scale 1.000000
-servo.max_voltage 56.000000
-servo.max_power_W 450.000000
-servo.derate_temperature 50.000000
-servo.fault_temperature 75.000000
-servo.enable_motor_temperature 0
-servo.motor_derate_temperature 50.000000
-servo.motor_fault_temperature nan
-servo.velocity_threshold 0.000000
-servo.position_derate 0.020000
-servo.adc_cur_cycles 2
-servo.adc_aux_cycles 47
-servo.pid_dq.kp 1.572669
-servo.pid_dq.ki 1652.041870
-servo.pid_position.kp 0.950000
-servo.pid_position.ki 0.000000
-servo.pid_position.kd 0.100000
-servo.pid_position.iratelimit -1.000000
-servo.pid_position.ilimit 0.000000
-servo.pid_position.max_desired_rate 0.000000
-servo.pid_position.sign -1
-servo.current_feedforward 1.000000
-servo.bemf_feedforward 1.000000
-servo.default_velocity_limit nan
-servo.default_accel_limit nan
-servo.voltage_mode_control 0
-servo.fixed_voltage_mode 0
-servo.fixed_voltage_control_V 0.000000
-servo.max_position_slip 15.000000
-servo.max_velocity_slip nan
-servo.default_timeout_s 0.100000
-servo.timeout_max_torque_Nm 5.000000
-servo.timeout_mode 12
-servo.flux_brake_min_voltage 53.000000
-servo.flux_brake_resistance_ohm 0.025000
-servo.max_current_A 100.000000
-servo.derate_current_A -20.000000
-servo.max_velocity 500.000000
-servo.max_velocity_derate 2.000000
-servo.cooldown_cycles 256
-servo.velocity_zero_capture_threshold 0.050000
-servo.timing_fault 0
-servo.emit_debug 0
-servopos.position_min nan
-servopos.position_max nan
-id.id 36
-can.prefix 0
-
diff --git a/config/moteus/a/pid_no_load.config b/config/moteus/joint_a.cfg
similarity index 98%
rename from config/moteus/a/pid_no_load.config
rename to config/moteus/joint_a.cfg
index 438366ef0..aaab74389 100644
--- a/config/moteus/a/pid_no_load.config
+++ b/config/moteus/joint_a.cfg
@@ -1,19 +1,19 @@
-uuid.uuid.0 26
-uuid.uuid.1 252
-uuid.uuid.2 31
-uuid.uuid.3 59
-uuid.uuid.4 74
-uuid.uuid.5 28
-uuid.uuid.6 78
-uuid.uuid.7 47
-uuid.uuid.8 176
-uuid.uuid.9 23
-uuid.uuid.10 152
-uuid.uuid.11 23
-uuid.uuid.12 70
-uuid.uuid.13 18
-uuid.uuid.14 56
-uuid.uuid.15 20
+uuid.uuid.0 55
+uuid.uuid.1 182
+uuid.uuid.2 228
+uuid.uuid.3 110
+uuid.uuid.4 120
+uuid.uuid.5 156
+uuid.uuid.6 75
+uuid.uuid.7 137
+uuid.uuid.8 129
+uuid.uuid.9 230
+uuid.uuid.10 178
+uuid.uuid.11 201
+uuid.uuid.12 154
+uuid.uuid.13 163
+uuid.uuid.14 21
+uuid.uuid.15 188
clock.hsitrim 64
aux1.i2c.i2c_hz 400000
aux1.i2c.i2c_mode 1
@@ -83,10 +83,10 @@ aux2.index.enabled 0
aux2.sine_cosine.enabled 0
aux2.sine_cosine.common 1700
aux2.i2c_startup_delay_ms 30
-aux2.pins.0.mode 0
-aux2.pins.0.pull 0
-aux2.pins.1.mode 0
-aux2.pins.1.pull 0
+aux2.pins.0.mode 14
+aux2.pins.0.pull 1
+aux2.pins.1.mode 14
+aux2.pins.1.pull 1
aux2.pins.2.mode 0
aux2.pins.2.pull 0
aux2.pins.3.mode 0
@@ -98,7 +98,7 @@ motor_position.sources.0.type 4
motor_position.sources.0.i2c_device 0
motor_position.sources.0.incremental_index -1
motor_position.sources.0.cpr 42
-motor_position.sources.0.offset -1.000000
+motor_position.sources.0.offset -5.000000
motor_position.sources.0.sign -1
motor_position.sources.0.debug_override -1
motor_position.sources.0.reference 0
@@ -224,11 +224,11 @@ motor_position.output.source 0
motor_position.output.offset 0.000000
motor_position.output.sign 1
motor_position.output.reference_source -1
-motor_position.rotor_to_output_ratio 1.000000
+motor_position.rotor_to_output_ratio 0.005080
motor.poles 14
motor.phase_invert 0
-motor.resistance_ohm 0.162091
-motor.v_per_hz 0.351471
+motor.resistance_ohm 0.160509
+motor.v_per_hz 0.132894
motor.offset.0 0.000000
motor.offset.1 0.000000
motor.offset.2 0.000000
@@ -1361,19 +1361,19 @@ servo.velocity_threshold 0.000000
servo.position_derate 0.020000
servo.adc_cur_cycles 2
servo.adc_aux_cycles 47
-servo.pid_dq.kp 0.117592
-servo.pid_dq.ki 203.689606
-servo.pid_position.kp 0.003000
+servo.pid_dq.kp 0.060857
+servo.pid_dq.ki 100.850487
+servo.pid_position.kp 3000.000000
servo.pid_position.ki 0.000000
-servo.pid_position.kd 0.000200
+servo.pid_position.kd 200.000000
servo.pid_position.iratelimit -1.000000
servo.pid_position.ilimit 0.000000
servo.pid_position.max_desired_rate 0.000000
servo.pid_position.sign -1
servo.current_feedforward 1.000000
servo.bemf_feedforward 1.000000
-servo.default_velocity_limit nan
-servo.default_accel_limit 5.000000
+servo.default_velocity_limit 0.150000
+servo.default_accel_limit 0.300000
servo.voltage_mode_control 0
servo.fixed_voltage_mode 0
servo.fixed_voltage_control_V 0.000000
@@ -1386,7 +1386,7 @@ servo.flux_brake_min_voltage 43.500000
servo.flux_brake_resistance_ohm 0.025000
servo.max_current_A 100.000000
servo.derate_current_A -20.000000
-servo.max_velocity 500.000000
+servo.max_velocity 0.180000
servo.max_velocity_derate 2.000000
servo.cooldown_cycles 256
servo.velocity_zero_capture_threshold 0.050000
diff --git a/config/moteus/jointC.cfg b/config/moteus/joint_c.cfg
similarity index 99%
rename from config/moteus/jointC.cfg
rename to config/moteus/joint_c.cfg
index 21075d8a2..c475f8708 100644
--- a/config/moteus/jointC.cfg
+++ b/config/moteus/joint_c.cfg
@@ -139,7 +139,7 @@ motor_position.sources.1.aux_number 1
motor_position.sources.1.type 7
motor_position.sources.1.i2c_device 0
motor_position.sources.1.incremental_index -1
-motor_position.sources.1.cpr 16384
+motor_position.sources.1.cpr 65536
motor_position.sources.1.offset 0.000000
motor_position.sources.1.sign -1
motor_position.sources.1.debug_override -1
@@ -221,7 +221,7 @@ motor_position.sources.2.compensation_table.30 0.000000
motor_position.sources.2.compensation_table.31 0.000000
motor_position.commutation_source 0
motor_position.output.source 0
-motor_position.output.offset 0.730000
+motor_position.output.offset 0.297363
motor_position.output.sign 1
motor_position.output.reference_source 1
motor_position.rotor_to_output_ratio 0.002066
@@ -1363,7 +1363,7 @@ servo.adc_cur_cycles 2
servo.adc_aux_cycles 47
servo.pid_dq.kp 0.060606
servo.pid_dq.ki 102.321388
-servo.pid_position.kp 7.000000
+servo.pid_position.kp 14.000000
servo.pid_position.ki 0.000000
servo.pid_position.kd 1.450000
servo.pid_position.iratelimit -1.000000
@@ -1372,8 +1372,8 @@ servo.pid_position.max_desired_rate 0.000000
servo.pid_position.sign -1
servo.current_feedforward 1.000000
servo.bemf_feedforward 1.000000
-servo.default_velocity_limit 100.000000
-servo.default_accel_limit 10.000000
+servo.default_velocity_limit 0.080000
+servo.default_accel_limit 0.200000
servo.voltage_mode_control 0
servo.fixed_voltage_mode 0
servo.fixed_voltage_control_V 0.000000
@@ -1385,7 +1385,7 @@ servo.flux_brake_min_voltage 53.000000
servo.flux_brake_resistance_ohm 0.025000
servo.max_current_A 100.000000
servo.derate_current_A -20.000000
-servo.max_velocity 100.000000
+servo.max_velocity 0.100000
servo.max_velocity_derate 2.000000
servo.cooldown_cycles 256
servo.velocity_zero_capture_threshold 0.050000
diff --git a/config/moteus/de0/pid_no_load.config b/config/moteus/joint_de_0.cfg
similarity index 98%
rename from config/moteus/de0/pid_no_load.config
rename to config/moteus/joint_de_0.cfg
index 45e3e5897..c116946d8 100644
--- a/config/moteus/de0/pid_no_load.config
+++ b/config/moteus/joint_de_0.cfg
@@ -17,8 +17,8 @@ uuid.uuid.15 144
clock.hsitrim 64
aux1.i2c.i2c_hz 400000
aux1.i2c.i2c_mode 1
-aux1.i2c.pullup 0
-aux1.i2c.devices.0.type 0
+aux1.i2c.pullup 1
+aux1.i2c.devices.0.type 1
aux1.i2c.devices.0.address 64
aux1.i2c.devices.0.poll_rate_us 1000
aux1.i2c.devices.1.type 0
@@ -50,10 +50,10 @@ aux1.pins.1.mode 0
aux1.pins.1.pull 0
aux1.pins.2.mode 0
aux1.pins.2.pull 0
-aux1.pins.3.mode 0
-aux1.pins.3.pull 0
-aux1.pins.4.mode 0
-aux1.pins.4.pull 0
+aux1.pins.3.mode 13
+aux1.pins.3.pull 1
+aux1.pins.4.mode 13
+aux1.pins.4.pull 1
aux2.i2c.i2c_hz 400000
aux2.i2c.i2c_mode 1
aux2.i2c.pullup 0
@@ -136,15 +136,15 @@ motor_position.sources.0.compensation_table.29 0.000000
motor_position.sources.0.compensation_table.30 0.000000
motor_position.sources.0.compensation_table.31 0.000000
motor_position.sources.1.aux_number 1
-motor_position.sources.1.type 0
+motor_position.sources.1.type 7
motor_position.sources.1.i2c_device 0
motor_position.sources.1.incremental_index -1
-motor_position.sources.1.cpr 16384
-motor_position.sources.1.offset 0.000000
+motor_position.sources.1.cpr 65536
+motor_position.sources.1.offset -34783.000000
motor_position.sources.1.sign 1
motor_position.sources.1.debug_override -1
motor_position.sources.1.reference 0
-motor_position.sources.1.pll_filter_hz 400.000000
+motor_position.sources.1.pll_filter_hz 100.000000
motor_position.sources.1.compensation_table.0 0.000000
motor_position.sources.1.compensation_table.1 0.000000
motor_position.sources.1.compensation_table.2 0.000000
@@ -227,8 +227,8 @@ motor_position.output.reference_source -1
motor_position.rotor_to_output_ratio 1.000000
motor.poles 16
motor.phase_invert 0
-motor.resistance_ohm 4.383775
-motor.v_per_hz 0.578135
+motor.resistance_ohm 3.711431
+motor.v_per_hz 0.576525
motor.offset.0 0.000000
motor.offset.1 0.000000
motor.offset.2 0.000000
@@ -1361,19 +1361,19 @@ servo.velocity_threshold 0.000000
servo.position_derate 0.020000
servo.adc_cur_cycles 2
servo.adc_aux_cycles 47
-servo.pid_dq.kp 2.768091
-servo.pid_dq.ki 5508.813477
-servo.pid_position.kp 0.160000
+servo.pid_dq.kp 1.387107
+servo.pid_dq.ki 2331.960449
+servo.pid_position.kp 1.300000
servo.pid_position.ki 0.000000
-servo.pid_position.kd 0.004500
+servo.pid_position.kd 0.010000
servo.pid_position.iratelimit -1.000000
servo.pid_position.ilimit 0.000000
servo.pid_position.max_desired_rate 0.000000
servo.pid_position.sign -1
servo.current_feedforward 1.000000
servo.bemf_feedforward 1.000000
-servo.default_velocity_limit nan
-servo.default_accel_limit nan
+servo.default_velocity_limit 5.000000
+servo.default_accel_limit 10.000000
servo.voltage_mode_control 0
servo.fixed_voltage_mode 0
servo.fixed_voltage_control_V 0.000000
@@ -1386,7 +1386,7 @@ servo.flux_brake_min_voltage 53.000000
servo.flux_brake_resistance_ohm 0.025000
servo.max_current_A 5.000000
servo.derate_current_A -20.000000
-servo.max_velocity 500.000000
+servo.max_velocity 10.000000
servo.max_velocity_derate 2.000000
servo.cooldown_cycles 256
servo.velocity_zero_capture_threshold 0.050000
diff --git a/config/moteus/jointDE1.cfg b/config/moteus/joint_de_1.cfg
similarity index 98%
rename from config/moteus/jointDE1.cfg
rename to config/moteus/joint_de_1.cfg
index 4ca990e9b..68c5e7f78 100644
--- a/config/moteus/jointDE1.cfg
+++ b/config/moteus/joint_de_1.cfg
@@ -17,8 +17,8 @@ uuid.uuid.15 194
clock.hsitrim 64
aux1.i2c.i2c_hz 400000
aux1.i2c.i2c_mode 1
-aux1.i2c.pullup 0
-aux1.i2c.devices.0.type 0
+aux1.i2c.pullup 1
+aux1.i2c.devices.0.type 1
aux1.i2c.devices.0.address 64
aux1.i2c.devices.0.poll_rate_us 1000
aux1.i2c.devices.1.type 0
@@ -50,10 +50,10 @@ aux1.pins.1.mode 0
aux1.pins.1.pull 0
aux1.pins.2.mode 0
aux1.pins.2.pull 0
-aux1.pins.3.mode 0
-aux1.pins.3.pull 0
-aux1.pins.4.mode 0
-aux1.pins.4.pull 0
+aux1.pins.3.mode 13
+aux1.pins.3.pull 1
+aux1.pins.4.mode 13
+aux1.pins.4.pull 1
aux2.i2c.i2c_hz 400000
aux2.i2c.i2c_mode 1
aux2.i2c.pullup 0
@@ -136,15 +136,15 @@ motor_position.sources.0.compensation_table.29 0.000000
motor_position.sources.0.compensation_table.30 0.000000
motor_position.sources.0.compensation_table.31 0.000000
motor_position.sources.1.aux_number 1
-motor_position.sources.1.type 0
+motor_position.sources.1.type 7
motor_position.sources.1.i2c_device 0
motor_position.sources.1.incremental_index -1
-motor_position.sources.1.cpr 16384
-motor_position.sources.1.offset 0.000000
+motor_position.sources.1.cpr 65536
+motor_position.sources.1.offset -52120.000000
motor_position.sources.1.sign 1
motor_position.sources.1.debug_override -1
-motor_position.sources.1.reference 0
-motor_position.sources.1.pll_filter_hz 400.000000
+motor_position.sources.1.reference 1
+motor_position.sources.1.pll_filter_hz 100.000000
motor_position.sources.1.compensation_table.0 0.000000
motor_position.sources.1.compensation_table.1 0.000000
motor_position.sources.1.compensation_table.2 0.000000
@@ -1363,17 +1363,17 @@ servo.adc_cur_cycles 2
servo.adc_aux_cycles 47
servo.pid_dq.kp 3.135870
servo.pid_dq.ki 4214.477539
-servo.pid_position.kp 0.160000
+servo.pid_position.kp 0.900000
servo.pid_position.ki 0.000000
-servo.pid_position.kd 0.004500
+servo.pid_position.kd 0.085000
servo.pid_position.iratelimit -1.000000
servo.pid_position.ilimit 0.000000
servo.pid_position.max_desired_rate 0.000000
servo.pid_position.sign -1
servo.current_feedforward 1.000000
servo.bemf_feedforward 1.000000
-servo.default_velocity_limit nan
-servo.default_accel_limit nan
+servo.default_velocity_limit 5.000000
+servo.default_accel_limit 10.000000
servo.voltage_mode_control 0
servo.fixed_voltage_mode 0
servo.fixed_voltage_control_V 0.000000
@@ -1386,7 +1386,7 @@ servo.flux_brake_min_voltage 53.000000
servo.flux_brake_resistance_ohm 0.025000
servo.max_current_A 5.000000
servo.derate_current_A -20.000000
-servo.max_velocity 500.000000
+servo.max_velocity 10.000000
servo.max_velocity_derate 2.000000
servo.cooldown_cycles 256
servo.velocity_zero_capture_threshold 0.050000
diff --git a/config/moteus/de1/pid_no_load.config b/config/moteus/sa_z.cfg
similarity index 97%
rename from config/moteus/de1/pid_no_load.config
rename to config/moteus/sa_z.cfg
index 4ca990e9b..b0654bd1c 100644
--- a/config/moteus/de1/pid_no_load.config
+++ b/config/moteus/sa_z.cfg
@@ -1,19 +1,19 @@
-uuid.uuid.0 210
-uuid.uuid.1 42
-uuid.uuid.2 55
-uuid.uuid.3 197
-uuid.uuid.4 115
-uuid.uuid.5 183
-uuid.uuid.6 70
-uuid.uuid.7 194
-uuid.uuid.8 179
-uuid.uuid.9 54
-uuid.uuid.10 50
-uuid.uuid.11 137
-uuid.uuid.12 91
-uuid.uuid.13 149
-uuid.uuid.14 200
-uuid.uuid.15 194
+uuid.uuid.0 95
+uuid.uuid.1 37
+uuid.uuid.2 12
+uuid.uuid.3 27
+uuid.uuid.4 4
+uuid.uuid.5 16
+uuid.uuid.6 65
+uuid.uuid.7 193
+uuid.uuid.8 152
+uuid.uuid.9 64
+uuid.uuid.10 17
+uuid.uuid.11 161
+uuid.uuid.12 239
+uuid.uuid.13 203
+uuid.uuid.14 94
+uuid.uuid.15 81
clock.hsitrim 64
aux1.i2c.i2c_hz 400000
aux1.i2c.i2c_mode 1
@@ -38,7 +38,7 @@ aux1.uart.rs422 0
aux1.uart.cui_amt21_address 84
aux1.quadrature.enabled 0
aux1.quadrature.cpr 16384
-aux1.hall.enabled 0
+aux1.hall.enabled 1
aux1.hall.polarity 0
aux1.index.enabled 0
aux1.sine_cosine.enabled 0
@@ -46,12 +46,12 @@ aux1.sine_cosine.common 1700
aux1.i2c_startup_delay_ms 30
aux1.pins.0.mode 0
aux1.pins.0.pull 0
-aux1.pins.1.mode 0
-aux1.pins.1.pull 0
-aux1.pins.2.mode 0
-aux1.pins.2.pull 0
-aux1.pins.3.mode 0
-aux1.pins.3.pull 0
+aux1.pins.1.mode 6
+aux1.pins.1.pull 1
+aux1.pins.2.mode 6
+aux1.pins.2.pull 1
+aux1.pins.3.mode 6
+aux1.pins.3.pull 1
aux1.pins.4.mode 0
aux1.pins.4.pull 0
aux2.i2c.i2c_hz 400000
@@ -77,29 +77,29 @@ aux2.uart.rs422 0
aux2.uart.cui_amt21_address 84
aux2.quadrature.enabled 0
aux2.quadrature.cpr 16384
-aux2.hall.enabled 1
+aux2.hall.enabled 0
aux2.hall.polarity 0
aux2.index.enabled 0
aux2.sine_cosine.enabled 0
aux2.sine_cosine.common 1700
aux2.i2c_startup_delay_ms 30
-aux2.pins.0.mode 6
+aux2.pins.0.mode 14
aux2.pins.0.pull 1
-aux2.pins.1.mode 6
+aux2.pins.1.mode 14
aux2.pins.1.pull 1
-aux2.pins.2.mode 6
-aux2.pins.2.pull 1
+aux2.pins.2.mode 0
+aux2.pins.2.pull 0
aux2.pins.3.mode 0
aux2.pins.3.pull 0
aux2.pins.4.mode 0
aux2.pins.4.pull 0
-motor_position.sources.0.aux_number 2
+motor_position.sources.0.aux_number 1
motor_position.sources.0.type 4
motor_position.sources.0.i2c_device 0
motor_position.sources.0.incremental_index -1
motor_position.sources.0.cpr 48
-motor_position.sources.0.offset -1.000000
-motor_position.sources.0.sign -1
+motor_position.sources.0.offset -3.000000
+motor_position.sources.0.sign 1
motor_position.sources.0.debug_override -1
motor_position.sources.0.reference 0
motor_position.sources.0.pll_filter_hz 100.000000
@@ -224,11 +224,11 @@ motor_position.output.source 0
motor_position.output.offset 0.000000
motor_position.output.sign 1
motor_position.output.reference_source -1
-motor_position.rotor_to_output_ratio 1.000000
+motor_position.rotor_to_output_ratio 0.001587
motor.poles 16
motor.phase_invert 0
-motor.resistance_ohm 3.353775
-motor.v_per_hz 0.571181
+motor.resistance_ohm 4.000340
+motor.v_per_hz 0.575865
motor.offset.0 0.000000
motor.offset.1 0.000000
motor.offset.2 0.000000
@@ -1327,12 +1327,12 @@ drv8323_conf.otw_rep 0
drv8323_conf.pwm_mode 1
drv8323_conf.pwm_1x_asynchronous 0
drv8323_conf.pwm_1x_dir 0
-drv8323_conf.idrivep_hs_ma 150
-drv8323_conf.idriven_hs_ma 300
+drv8323_conf.idrivep_hs_ma 100
+drv8323_conf.idriven_hs_ma 200
drv8323_conf.cbc 1
drv8323_conf.tdrive_ns 1000
-drv8323_conf.idrivep_ls_ma 150
-drv8323_conf.idriven_ls_ma 300
+drv8323_conf.idrivep_ls_ma 100
+drv8323_conf.idriven_ls_ma 200
drv8323_conf.tretry 0
drv8323_conf.dead_time_ns 50
drv8323_conf.ocp_mode 0
@@ -1350,7 +1350,7 @@ servo.current_sense_ohm 0.000500
servo.pwm_comp_off 0.027000
servo.pwm_comp_mag 0.005000
servo.pwm_scale 1.000000
-servo.max_voltage 56.000000
+servo.max_voltage 46.000000
servo.max_power_W 450.000000
servo.derate_temperature 50.000000
servo.fault_temperature 75.000000
@@ -1361,19 +1361,19 @@ servo.velocity_threshold 0.000000
servo.position_derate 0.020000
servo.adc_cur_cycles 2
servo.adc_aux_cycles 47
-servo.pid_dq.kp 3.135870
-servo.pid_dq.ki 4214.477539
-servo.pid_position.kp 0.160000
+servo.pid_dq.kp 1.341388
+servo.pid_dq.ki 2513.487549
+servo.pid_position.kp 1500.000000
servo.pid_position.ki 0.000000
-servo.pid_position.kd 0.004500
+servo.pid_position.kd 0.000000
servo.pid_position.iratelimit -1.000000
servo.pid_position.ilimit 0.000000
servo.pid_position.max_desired_rate 0.000000
servo.pid_position.sign -1
servo.current_feedforward 1.000000
servo.bemf_feedforward 1.000000
-servo.default_velocity_limit nan
-servo.default_accel_limit nan
+servo.default_velocity_limit 0.050000
+servo.default_accel_limit 0.200000
servo.voltage_mode_control 0
servo.fixed_voltage_mode 0
servo.fixed_voltage_control_V 0.000000
@@ -1382,11 +1382,11 @@ servo.max_velocity_slip nan
servo.default_timeout_s 0.100000
servo.timeout_max_torque_Nm 5.000000
servo.timeout_mode 12
-servo.flux_brake_min_voltage 53.000000
+servo.flux_brake_min_voltage 43.500000
servo.flux_brake_resistance_ohm 0.025000
-servo.max_current_A 5.000000
+servo.max_current_A 100.000000
servo.derate_current_A -20.000000
-servo.max_velocity 500.000000
+servo.max_velocity 0.100000
servo.max_velocity_derate 2.000000
servo.cooldown_cycles 256
servo.velocity_zero_capture_threshold 0.050000
@@ -1394,6 +1394,6 @@ servo.timing_fault 0
servo.emit_debug 0
servopos.position_min nan
servopos.position_max nan
-id.id 36
+id.id 49
can.prefix 0
diff --git a/config/teleop.yaml b/config/teleop.yaml
index 2158f1ef4..8c05ad09a 100644
--- a/config/teleop.yaml
+++ b/config/teleop.yaml
@@ -4,54 +4,48 @@ teleop:
ra_names: ["joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"]
ra_controls:
joint_a:
- multiplier: 1
+ multiplier: -1
slow_mode_multiplier: 0.5
- invert: False
+ invert: True
xbox_index: 0
joint_b:
- multiplier: -1
+ multiplier: 1
slow_mode_multiplier: 1
- invert: True
+ invert: False
xbox_index: 1
joint_c:
multiplier: -1
slow_mode_multiplier: 0.6
- invert: True
+ invert: False
xbox_index: 3
joint_de_pitch:
multiplier: 0.5
slow_mode_multiplier: 1
- invert: False
- xbox_index_left: 4
- xbox_index_right: 5
+ invert: True
joint_de_roll:
- multiplier: 0.5
+ multiplier: -0.5
slow_mode_multiplier: 1
- invert: False
- xbox_index_left: 4
- xbox_index_right: 5
+ invert: True
allen_key:
multiplier: 1
slow_mode_multiplier: 1
invert: False
- # xbox_index: 7
gripper:
multiplier: 1
slow_mode_multiplier: 1
- invert: False
- # xbox_index: 7
+ invert: True
sa_controls:
sa_x:
multiplier: 1
- slow_mode_multiplier: 0.5
+ slow_mode_multiplier: 1.0 # 0.5
xbox_index: 1
sa_y:
multiplier: -1
- slow_mode_multiplier: 0.5
+ slow_mode_multiplier: 1.0 # 0.5
xbox_index: 0
sa_z:
- multiplier: -1
+ multiplier: 1
slow_mode_multiplier: 0.5
xbox_index: 4
sampler:
@@ -80,20 +74,18 @@ teleop:
left_js_y: 1
right_js_x: 2
right_js_y: 3
- left_trigger: 4
- right_trigger: 5
+ left_trigger: 6
+ right_trigger: 7
a: 0
b: 1
- x: 3
- y: 2
+ x: 2
+ y: 3
left_bumper: 4
right_bumper: 5
- d_pad_x: 6
- d_pad_y: 7
joystick_mappings:
- left_right: 1
- forward_back: 0
+ left_right: 0
+ forward_back: 1
twist: 2
dampen: 3
pan: 4
diff --git a/launch/esw_base.launch b/launch/esw_base.launch
index 8df6aeeeb..e2ccf7d2d 100644
--- a/launch/esw_base.launch
+++ b/launch/esw_base.launch
@@ -12,43 +12,42 @@
output="screen">
-
-
-
+ -->
-
-
-
+
-
+
\ No newline at end of file
diff --git a/msg/MotorsAdjust.msg b/msg/MotorsAdjust.msg
new file mode 100644
index 000000000..93ddff782
--- /dev/null
+++ b/msg/MotorsAdjust.msg
@@ -0,0 +1,2 @@
+string[] names # names of joints
+float32[] values # position should be in radians for the joints
\ No newline at end of file
diff --git a/msg/Spectral.msg b/msg/Spectral.msg
index e03372eb4..4c0376ddb 100644
--- a/msg/Spectral.msg
+++ b/msg/Spectral.msg
@@ -1,3 +1,3 @@
uint8 site
-float64[6] data
+float32[6] data
bool error
\ No newline at end of file
diff --git a/msg/SpectralGroup.msg b/msg/SpectralGroup.msg
deleted file mode 100644
index 015dc773a..000000000
--- a/msg/SpectralGroup.msg
+++ /dev/null
@@ -1 +0,0 @@
-Spectral[3] spectrals
\ No newline at end of file
diff --git a/science-spectral.zip b/science-spectral.zip
new file mode 100644
index 000000000..6576025c2
Binary files /dev/null and b/science-spectral.zip differ
diff --git a/scripts/plot_bdcmc_debug_messages.py b/scripts/plot_bdcmc_debug_messages.py
index 72937d3c2..d8cfaffdd 100644
--- a/scripts/plot_bdcmc_debug_messages.py
+++ b/scripts/plot_bdcmc_debug_messages.py
@@ -9,6 +9,8 @@
import pyqtgraph as pg
from pyqtgraph.Qt import QtCore
+from math import pi
+
if __name__ == "__main__":
app = pg.mkQApp()
@@ -24,12 +26,12 @@
# curve3 = plot.plot(pen='r')
plot.enableAutoRange("xy", True)
- plot.setYRange(0, 1 << 14)
+ plot.setYRange(-pi, pi)
xs = np.zeros(40)
ys = np.zeros((40, 4))
- with can.interface.Bus(channel="vcan0", interface="socketcan", fd=True) as bus:
+ with can.interface.Bus(channel="can1", interface="socketcan", fd=True) as bus:
def update():
message = bus.recv()
diff --git a/src/esw/arm_position_test_bridge/arm_position.cpp b/src/esw/arm_position_test_bridge/arm_position.cpp
index 32dc61d23..8229c70b5 100644
--- a/src/esw/arm_position_test_bridge/arm_position.cpp
+++ b/src/esw/arm_position_test_bridge/arm_position.cpp
@@ -2,135 +2,73 @@
#include "ros/ros.h"
#include "std_srvs/SetBool.h"
#include
-#include
-#include
#include
#include
#include
void sleep(int ms);
-void set_arm_position(ros::Publisher& publisher, std::vector positions, int delay);
+void set_arm_position(ros::Publisher& publisher, float position);
-std::vector position_data;
+float position_data[7] = {0, 0, 0, 0, 0, 0, 0};
-auto arm_position_callback(sensor_msgs::JointState::ConstPtr const& msg) {
- ROS_INFO(";)");
+auto arm_position_callback(Position::ConstPtr const& msg) {
position_data = msg->position;
- ROS_INFO("hey");
}
-void reset_pos(ros::Publisher armPublisher, int delay) {
- set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0}, delay);
-}
-
-void de_roll(float position, ros::Publisher armPublisher, int delay = 5000) {
- set_arm_position(armPublisher, {0, 0, 0, 0, 0, position, 0}, delay);
- ROS_INFO("Joint_DE_ROLL: %f", position_data[4]);
- reset_pos(armPublisher, delay);
-}
-
-void de_pitch(float position, ros::Publisher armPublisher, int delay = 5000) {
- set_arm_position(armPublisher, {0, 0, 0, position, 0, 0, 0}, delay);
- ROS_INFO("Joint_DE_PITCH: %f", position_data[3]);
- reset_pos(armPublisher, delay);
-}
-
-auto main(int argc, char** argv) -> int {
- // Delay between operations
- int delay = 5000;
- position_data.resize(7);
-
+int main(int argc, char** argv) {
ros::init(argc, argv, "arm_position_test_bridge");
ros::NodeHandle nh;
ros::Rate rate(10);
- ros::Publisher armPublisher = nh.advertise("arm_position_cmd", 1);
- ros::Subscriber armSubscriber = nh.subscribe("arm_joint_data", 10, arm_position_callback);
-
while (ros::ok()) {
/* Arm Position Test */
- ROS_INFO("****BEGIN BASIC AUTON ARM POSITION TEST****");
-
-
- // ROS_INFO("MOVE A");
-
- // set_arm_position(armPublisher, {0.4, 0, 0, 0, 0, 0, 0}, delay);
- // ROS_INFO("Joint_A: %f", position_data[0]);
- //reset_pos(armPublisher, delay);
-
- // Test forwards limit switch
- //set_arm_position(armPublisher, {1, 0, 0, 0, 0, 0, 0}, delay);
- //ROS_INFO("Joint_A: %f", position_data[0]);
- //reset_pos(armPublisher, delay);
-
- // Test backwards limit switch
- //set_arm_position(armPublisher, {-0.4, 0, 0, 0, 0, 0, 0}, delay);
- //ROS_INFO("Joint_A: %f", position_data[0]);
- //reset_pos(armPublisher, delay);
-
-
- // ROS_INFO("MOVE B");
- // set_arm_position(armPublisher, {0, -0.70, 0, 0, 0, 0, 0}, delay);
- // ROS_INFO("Joint_B: %f", position_data[1]);
- // reset_pos(armPublisher, delay);
+ ROS_INFO("****BEGIN AUTON ARM POSITION TEST****");
+ ros::Publisher armPublisher = nh.advertise("arm_position_cmd", 1);
+ ros::Subscriber armSubscriber = nh.subscribe("arm_joint_data", 10, arm_position_callback);
+
+ ROS_INFO("MOVE A");
+ set_arm_position(armPublisher, {0.4, 0, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_A: %f", position_data[0]);
+ sleep(5000);
+ set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_A: %f", position_data[0]);
+ sleep(5000);
+
+ ROS_INFO("MOVE B");
+ set_arm_position(armPublisher, {0, -0.78, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_B: %f", position_data[1]);
+ sleep(5000);
+ set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_B: %f", position_data[1]);
+ sleep(5000);
ROS_INFO("MOVE C");
- set_arm_position(armPublisher, {0, 0, 2, 0, 0, 0, 0}, delay);
+ set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
ROS_INFO("Joint_C: %f", position_data[2]);
- reset_pos(armPublisher, delay);
-
- // set_arm_position(armPublisher, {0, 0, 1.7, 0, 0, 0, 0}, delay);
- // ROS_INFO("Joint_C: %f", position_data[2]);
- // reset_pos(armPublisher, delay);
-
- // ROS_INFO("MOVE DE PITCH");
- // float test_de_pitch_positions[4] = {2.35, -2.35, 1.17, -1.17};
- // for(float value : test_de_pitch_positions) {
- // de_pitch(value, armPublisher);
- // }
-
- // ROS_INFO("MOVE DE ROLL");
- // float test_de_roll_positions[4] = {6.28, -6.28, 3.14, -3.14};
- // for(float value : test_de_roll_positions){
- // de_roll(value, armPublisher);
- // }
- ROS_INFO("****END BASIC ARM POSITION TEST****");
- // ROS_INFO("****BEGIN COMPLEX AUTON ARM POSITION TEST****");
-
- // ROS_INFO("BOTH DE");
- // for(int i = 0; i < 4; i++){
- // set_arm_position(armPublisher, {0,0,0,0,test_de_pitch_positions[i],test_de_roll_positions[i],0}, delay);
- // ROS_INFO("Joint_DE_ROLL: %f", position_data[4]);
- // ROS_INFO("Joint_DE_PITCH: %f", position_data[3]);
- // reset_pos(armPublisher, delay);
- // }
-
- // // Joint A: [0.0, 1.0]
- // // Joint B: [-0.78540, 0.0]
- // // Joint C: [-2.094, 1.745] 220 degrees of motion
- // // Joint DE-Pitch: [-2.268, 2.268]
- // // Joint DE-Roll: [-inf,inf]
- // ROS_INFO("A,B,C");
- // //min position
- // set_arm_position(armPublisher, {0,-0.78,-2.0,0,0,0,0}, delay);
- // ROS_INFO("Joint_A: %f", position_data[0]);
- // ROS_INFO("Joint_B: %f", position_data[1]);
- // ROS_INFO("Joint_C: %f", position_data[2]);
- // reset_pos(armPublisher, delay);
-
- // // max position
- // set_arm_position(armPublisher, {0.9,0.0,1.7,0,0,0,0}, delay);
- // ROS_INFO("Joint_A: %f", position_data[0]);
- // ROS_INFO("Joint_B: %f", position_data[1]);
- // ROS_INFO("Joint_C: %f", position_data[2]);
- // reset_pos(armPublisher, delay);
-
- // set_arm_position(armPublisher, {0.3,-0.32,-1.2,0,0,0,0}, delay);
- // ROS_INFO("Joint_A: %f", position_data[0]);
- // ROS_INFO("Joint_B: %f", position_data[1]);
- // ROS_INFO("Joint_C: %f", position_data[2]);
- // ROS_INFO("****END COMPLEX AUTON ARM POSITION TEST****");
+ sleep(5000);
+ set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_C: %f", position_data[2]);
+ sleep(5000);
+
+ ROS_INFO("MOVE DE PITCH");
+ set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_DE_PITCH: %f", position_data[3]);
+ sleep(5000);
+ set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_DE_PITCH: %f", position_data[3]);
+ sleep(5000);
+
+ ROS_INFO("MOVE DE ROLL");
+ set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_DE_ROLL: %f", position_data[4]);
+ sleep(5000);
+ set_arm_position(armPublisher, {0, 0, 0, 0, 0, 0, 0});
+ ROS_INFO("Joint_DE_ROLL: %f", position_data[4]);
+
+ ROS_INFO("****END ARM POSITION TEST****");
+
+ nh.spinOnce();
}
return 0;
@@ -140,15 +78,10 @@ void sleep(int ms) {
std::this_thread::sleep_for(std::chrono::milliseconds(ms));
}
-void set_arm_position(ros::Publisher& publisher, std::vector positions, int delay) {
+void set_arm_position(ros::Publisher& publisher, float positions_arr[7]) {
mrover::Position armMsg;
// TODO: figure out how to set allen_key and gripper to nan
armMsg.names = {"joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"};
- armMsg.positions = std::move(positions);
- ROS_INFO("[0]: %f, [1]: %f, [2]: %f", armMsg.positions[0], armMsg.positions[1], armMsg.positions[2]);
-
- for (int i = 0; i < delay; i += 50) {
- sleep(50);
- publisher.publish(armMsg);
- }
+ armMsg.positions = positions_arr;
+ publisher.publish(armMsg);
}
diff --git a/src/esw/arm_translator_bridge/arm_translator.cpp b/src/esw/arm_translator_bridge/arm_translator.cpp
index 058ac7128..56ab622fe 100644
--- a/src/esw/arm_translator_bridge/arm_translator.cpp
+++ b/src/esw/arm_translator_bridge/arm_translator.cpp
@@ -1,318 +1,208 @@
#include "arm_translator.hpp"
-#include "joint_de_translation.hpp"
-#include "linear_joint_translation.hpp"
-
-#include
#include
+#include
+#include
+
+#include
+
+namespace Eigen {
+
+ template<
+ typename Rep1, typename Conversion1, typename MeterExp1, typename KilogramExp1, typename SecondExp1, typename RadianExp1, typename AmpereExp1, typename KelvinExp1, typename ByteExp1, typename TickExp1,
+ typename Rep2, typename Conversion2, typename MeterExp2, typename KilogramExp2, typename SecondExp2, typename RadianExp2, typename AmpereExp2, typename KelvinExp2, typename ByteExp2, typename TickExp2>
+ struct ScalarBinaryOpTraits<
+ mrover::Unit,
+ mrover::Unit,
+ internal::scalar_product_op<
+ mrover::Unit,
+ mrover::Unit>> {
+ using U1 = mrover::Unit;
+ using U2 = mrover::Unit;
+ using ReturnType = mrover::multiply;
+ };
+
+ template<>
+ struct ScalarBinaryOpTraits<
+ mrover::Dimensionless,
+ mrover::Dimensionless,
+ internal::scalar_product_op> {
+ using ReturnType = mrover::Dimensionless;
+ };
+
+ // template
+ // struct NumTraits> : NumTraits {
+ // using U = mrover::Unit;
+ // using Real = U;
+ // using NonInteger = U;
+ // using Nested = U;
+ // enum {
+ // IsComplex = 0,
+ // IsInteger = 0,
+ // IsSigned = 1,
+ // RequireInitialization = 1,
+ // ReadCost = 1,
+ // AddCost = 3,
+ // MulCost = 3,
+ // };
+ // };
+
+} // namespace Eigen
namespace mrover {
ArmTranslator::ArmTranslator(ros::NodeHandle& nh) {
- assert(mJointDEPitchIndex == mJointDE0Index);
- assert(mJointDERollIndex == mJointDE1Index);
- assert(mArmHWNames.size() == mRawArmNames.size());
- ROS_INFO("hi");
- for (std::size_t i = 0; i < mRawArmNames.size(); ++i) {
- if (i != mJointDEPitchIndex && i != mJointDERollIndex) {
- assert(mArmHWNames.at(i) == mRawArmNames.at(i));
- }
- {
- auto rawName = static_cast(mRawArmNames[i]);
- [[maybe_unused]] auto [_, was_inserted] = mAdjustServersByRawArmNames.try_emplace(rawName, nh.advertiseService(std::format("{}_adjust", rawName), &ArmTranslator::adjustServiceCallback, this));
- assert(was_inserted);
- }
- {
- auto hwName = static_cast(mArmHWNames[i]);
- [[maybe_unused]] auto [_, was_inserted] = mAdjustClientsByArmHWNames.try_emplace(hwName, nh.serviceClient(std::format("{}_adjust", hwName)));
- assert(was_inserted);
- }
+ for (std::string const& hwName: mArmHWNames) {
+ auto [_, was_inserted] = mAdjustClientsByArmHwNames.try_emplace(hwName, nh.serviceClient(std::format("{}_adjust", hwName)));
+ assert(was_inserted);
}
- mJointDEPitchOffset = requireParamAsUnit(nh, "joint_de/pitch_offset");
- mJointDERollOffset = requireParamAsUnit(nh, "joint_de/roll_offset");
-
- mMinRadPerSecDE0 = requireParamAsUnit(nh, "brushless_motors/controllers/joint_de_0/min_velocity");
- mMaxRadPerSecDE0 = requireParamAsUnit(nh, "brushless_motors/controllers/joint_de_0/max_velocity");
- mMinRadPerSecDE1 = requireParamAsUnit(nh, "brushless_motors/controllers/joint_de_1/min_velocity");
- mMaxRadPerSecDE1 = requireParamAsUnit(nh, "brushless_motors/controllers/joint_de_1/max_velocity");
-
- mJointDEPitchPosSub = nh.subscribe("joint_de_pitch_raw_position_data", 1, &ArmTranslator::processPitchRawPositionData, this);
- mJointDERollPosSub = nh.subscribe("joint_de_roll_raw_position_data", 1, &ArmTranslator::processRollRawPositionData, this);
-
- mJointALinMult = requireParamAsUnit(nh, "brushless_motors/controllers/joint_a/rad_to_meters_ratio");
-
mThrottleSub = nh.subscribe("arm_throttle_cmd", 1, &ArmTranslator::processThrottleCmd, this);
mVelocitySub = nh.subscribe("arm_velocity_cmd", 1, &ArmTranslator::processVelocityCmd, this);
mPositionSub = nh.subscribe("arm_position_cmd", 1, &ArmTranslator::processPositionCmd, this);
- mArmHWJointDataSub = nh.subscribe("arm_hw_joint_data", 1, &ArmTranslator::processArmHWJointData, this);
+ mJointDataSub = nh.subscribe("arm_hw_joint_data", 1, &ArmTranslator::processJointState, this);
mThrottlePub = std::make_unique(nh.advertise("arm_hw_throttle_cmd", 1));
mVelocityPub = std::make_unique(nh.advertise("arm_hw_velocity_cmd", 1));
mPositionPub = std::make_unique(nh.advertise("arm_hw_position_cmd", 1));
mJointDataPub = std::make_unique(nh.advertise("arm_joint_data", 1));
+
+ mDeOffsetTimer = nh.createTimer(ros::Duration{1}, &ArmTranslator::updateDeOffsets, this);
}
- // void ArmTranslator::clampValues(float& val1, float& val2, float minValue1, float maxValue1, float minValue2, float maxValue2) {
- // val1 = (val1 - (-80)) / (maxValue1 - minValue1) * ();
- // val2 if (val1 < minValue1) {
- // float const ratio = minValue1 / val1;
- // val1 *= ratio;
- // val2 *= ratio;
- // }
- // if (maxValue1 < val1) {
- // float const ratio = maxValue1 / val1;
- // val1 *= ratio;
- // val2 *= ratio;
- // }
- // if (val2 < minValue2) {
- // float const ratio = minValue2 / val2;
- // val1 *= ratio;
- // val2 *= ratio;
- // }
- // if (maxValue2 < val2) {
- // float const ratio = maxValue2 / val2;
- // val1 *= ratio;
- // val2 *= ratio;
- // }
- // }
-
- auto ArmTranslator::mapValue(float& val, float inputMinValue, float inputMaxValue, float outputMinValue, float outputMaxValue) -> void {
- val = (val - inputMinValue) / (inputMaxValue - inputMinValue) * (outputMaxValue - outputMinValue) + outputMinValue;
+ auto static const PITCH_ROLL_TO_0_1 = (Matrix2{} << -1, -1, -1, 1).finished();
+
+ auto findJointByName(std::vector const& names, std::string const& name) -> std::optional {
+ auto it = std::ranges::find(names, name);
+ return it == names.end() ? std::nullopt : std::make_optional(std::distance(names.begin(), it));
}
auto ArmTranslator::processThrottleCmd(Throttle::ConstPtr const& msg) const -> void {
- if (mRawArmNames != msg->names || mRawArmNames.size() != msg->throttles.size()) {
- ROS_ERROR("Throttle requests for arm is ignored!");
+ if (msg->names.size() != msg->throttles.size()) {
+ ROS_ERROR("Name count and value count mismatched!");
return;
}
Throttle throttle = *msg;
- ROS_INFO("pitch throttle: %f roll throttle: %f", msg->throttles.at(mJointDEPitchIndex), msg->throttles.at(mJointDERollIndex));
-
- auto [joint_de_0_throttle, joint_de_1_throttle] = transformPitchRollToMotorOutputs(
- msg->throttles.at(mJointDEPitchIndex),
- msg->throttles.at(mJointDERollIndex));
- ROS_INFO("pre-mapped values: de_0 %f de_1 %f", joint_de_0_throttle, joint_de_1_throttle);
+ // If present, replace the entries for DE0 and DE1 with the pitch and roll values respectively
+ std::optional jointDePitchIndex = findJointByName(msg->names, "joint_de_pitch"), jointDeRollIndex = findJointByName(msg->names, "joint_de_roll");
+ if (jointDePitchIndex && jointDeRollIndex) {
- mapValue(
- joint_de_0_throttle,
- -80.0f,
- 80.0f,
- -1.0f,
- 1.0f);
+ std::size_t pitchIndex = jointDePitchIndex.value(), rollIndex = jointDeRollIndex.value();
- mapValue(
- joint_de_1_throttle,
- -80.0f,
- 80.0f,
- -1.0f,
- 1.0f);
+ Vector2 pitchRollThrottles{msg->throttles.at(pitchIndex), msg->throttles.at(rollIndex)};
+ Vector2 motorThrottles = PITCH_ROLL_TO_0_1 * pitchRollThrottles;
- throttle.names.at(mJointDEPitchIndex) = "joint_de_0";
- throttle.names.at(mJointDERollIndex) = "joint_de_1";
- throttle.throttles.at(mJointDEPitchIndex) = joint_de_0_throttle;
- throttle.throttles.at(mJointDERollIndex) = joint_de_1_throttle;
-
- ROS_INFO("post-mapped values: de_0 %f de_1 %f", joint_de_0_throttle, joint_de_1_throttle);
+ throttle.names[pitchIndex] = "joint_de_0";
+ throttle.names[rollIndex] = "joint_de_1";
+ throttle.throttles[pitchIndex] = motorThrottles[0].get();
+ throttle.throttles[rollIndex] = motorThrottles[1].get();
+ }
mThrottlePub->publish(throttle);
}
- auto ArmTranslator::jointDEIsCalibrated() const -> bool {
- return mJointDE0PosOffset.has_value() && mJointDE1PosOffset.has_value();
- }
+ // constexpr Dimensionless PITCH_ROLL_TO_01_SCALE = 40;
+ // Matrix2 static const PITCH_ROLL_TO_01_SCALED = PITCH_ROLL_TO_0_1 * PITCH_ROLL_TO_01_SCALE;
+ // Note (Isabel) PITCH_ROLL_TO_01_SCALE is unnecessary, moteus config will scale for gear ratio
- auto ArmTranslator::updatePositionOffsets() -> void {
- if (!mCurrentRawJointDEPitch.has_value() || !mCurrentRawJointDERoll.has_value() || !mCurrentRawJointDE0Position.has_value() || !mCurrentRawJointDE1Position.has_value()) {
+ auto ArmTranslator::processVelocityCmd(Velocity::ConstPtr const& msg) -> void {
+ if (msg->names.size() != msg->velocities.size()) {
+ ROS_ERROR("Name count and value count mismatched!");
return;
}
- std::pair expected_motor_outputs = transformPitchRollToMotorOutputs(mCurrentRawJointDEPitch->get(), mCurrentRawJointDERoll->get());
- if (mCurrentRawJointDE0Position.has_value()) {
- mJointDE0PosOffset = *mCurrentRawJointDE0Position - Radians{expected_motor_outputs.first};
- }
- if (mCurrentRawJointDE1Position.has_value()) {
- mJointDE1PosOffset = *mCurrentRawJointDE1Position - Radians{expected_motor_outputs.second};
- }
- }
+ Velocity velocity = *msg;
- auto ArmTranslator::processPitchRawPositionData(std_msgs::Float32::ConstPtr const& msg) -> void {
- mCurrentRawJointDEPitch = Radians{msg->data};
- updatePositionOffsets();
- }
+ // TODO(quintin): Decrease code duplication
+ // If present, replace the entries for DE0 and DE1 with the pitch and roll values respectively
+ std::optional jointDePitchIndex = findJointByName(msg->names, "joint_de_pitch"), jointDeRollIndex = findJointByName(msg->names, "joint_de_roll");
+ if (jointDePitchIndex && jointDeRollIndex) {
+ std::size_t pitchIndex = jointDePitchIndex.value(), rollIndex = jointDeRollIndex.value();
- auto ArmTranslator::processRollRawPositionData(std_msgs::Float32::ConstPtr const& msg) -> void {
- mCurrentRawJointDERoll = Radians{msg->data};
- updatePositionOffsets();
- }
+ Vector2 pitchRollVelocities{msg->velocities.at(pitchIndex), msg->velocities.at(rollIndex)};
+ Vector2 motorVelocities = PITCH_ROLL_TO_0_1 * pitchRollVelocities;
- auto ArmTranslator::processVelocityCmd(Velocity::ConstPtr const& msg) -> void {
- if (mRawArmNames != msg->names || mRawArmNames.size() != msg->velocities.size()) {
- ROS_ERROR("Velocity requests for arm is ignored!");
- return;
+ velocity.names[pitchIndex] = "joint_de_0";
+ velocity.names[rollIndex] = "joint_de_1";
+ velocity.velocities[pitchIndex] = motorVelocities[0].get();
+ velocity.velocities[rollIndex] = motorVelocities[1].get();
}
- Velocity velocity = *msg;
-
- auto [joint_de_0_vel, joint_de_1_vel] = transformPitchRollToMotorOutputs(
- msg->velocities.at(mJointDEPitchIndex),
- msg->velocities.at(mJointDERollIndex));
-
- mapValue(
- joint_de_0_vel,
- -800.0,
- 800.0,
- mMinRadPerSecDE1.get(),
- mMaxRadPerSecDE1.get());
-
- mapValue(
- joint_de_1_vel,
- -800.0,
- 800.0,
- mMinRadPerSecDE1.get(),
- mMaxRadPerSecDE1.get());
-
- velocity.names.at(mJointDEPitchIndex) = "joint_de_0";
- velocity.names.at(mJointDERollIndex) = "joint_de_1";
- velocity.velocities.at(mJointDEPitchIndex) = joint_de_0_vel;
- velocity.velocities.at(mJointDERollIndex) = joint_de_1_vel;
-
- // joint a convert linear velocity (meters/s) to revolution/s
- auto joint_a_vel = convertLinVel(msg->velocities.at(mJointAIndex), static_cast(mJointALinMult.get()));
- velocity.velocities.at(mJointAIndex) = joint_a_vel;
- ROS_INFO("joint a velocity after conversion: %f", joint_a_vel);
-
mVelocityPub->publish(velocity);
}
auto ArmTranslator::processPositionCmd(Position::ConstPtr const& msg) -> void {
- ROS_INFO("msg: %f", msg->positions[0]);
- if (mRawArmNames != msg->names || mRawArmNames.size() != msg->positions.size()) {
- ROS_ERROR("Position requests for arm is ignored!");
- return;
- }
-
- if (!jointDEIsCalibrated()) {
- ROS_ERROR("Position requests for arm is ignored because jointDEIsNotCalibrated!");
+ if (msg->names.size() != msg->positions.size()) {
+ ROS_ERROR("Name count and value count mismatched!");
return;
}
Position position = *msg;
- auto [joint_de_0_raw_pos, joint_de_1_raw_pos] = transformPitchRollToMotorOutputs(
- msg->positions.at(mJointDEPitchIndex),
- msg->positions.at(mJointDERollIndex));
+ // TODO(quintin): Decrease code duplication
+ // If present, replace the entries for DE0 and DE1 with the pitch and roll values respectively
+ std::optional jointDePitchIndex = findJointByName(msg->names, "joint_de_pitch"), jointDeRollIndex = findJointByName(msg->names, "joint_de_roll");
+ if (jointDePitchIndex && jointDeRollIndex) {
+ std::size_t pitchIndex = jointDePitchIndex.value(), rollIndex = jointDeRollIndex.value();
- float joint_de_0_pos = joint_de_0_raw_pos + mJointDE0PosOffset->get();
- float joint_de_1_pos = joint_de_1_raw_pos + mJointDE1PosOffset->get();
+ Vector2 pitchRoll{msg->positions.at(pitchIndex), msg->positions.at(rollIndex)};
+ Vector2 motorPositions = 40 * PITCH_ROLL_TO_0_1 * pitchRoll;
- position.names.at(mJointDEPitchIndex) = "joint_de_0";
- position.names.at(mJointDERollIndex) = "joint_de_1";
- position.positions.at(mJointDEPitchIndex) = joint_de_0_pos;
- position.positions.at(mJointDERollIndex) = joint_de_1_pos;
+ position.names[pitchIndex] = "joint_de_0";
+ position.names[rollIndex] = "joint_de_1";
+ position.positions[pitchIndex] = motorPositions[0].get();
+ position.positions[rollIndex] = motorPositions[1].get();
+ }
- // joint a convert linear position (meters) to radians
- auto joint_a_pos = convertLinPos(msg->positions.at(mJointAIndex), mJointALinMult.get());
- position.positions.at(mJointAIndex) = joint_a_pos;
-
mPositionPub->publish(position);
}
- auto ArmTranslator::processArmHWJointData(sensor_msgs::JointState::ConstPtr const& msg) -> void {
+ auto wrapAngle(float angle) -> float {
+ constexpr float pi = std::numbers::pi_v;
+ constexpr float tau = 2 * pi;
+ return std::fmod(angle + pi, tau) - pi;
+ }
+
+ auto ArmTranslator::processJointState(sensor_msgs::JointState::ConstPtr const& msg) -> void {
if (mArmHWNames != msg->name || mArmHWNames.size() != msg->position.size() || mArmHWNames.size() != msg->velocity.size() || mArmHWNames.size() != msg->effort.size()) {
ROS_ERROR("Forwarding joint data for arm is ignored!");
return;
}
- // Convert joint state of joint a from radians/revolutions to meters
- auto jointALinVel = convertLinVel(static_cast(msg->velocity.at(mJointAIndex)), mJointALinMult.get());
- auto jointALinPos = convertLinPos(static_cast(msg->position.at(mJointAIndex)), mJointALinMult.get());
-
-
sensor_msgs::JointState jointState = *msg;
- auto [jointDEPitchVel, jointDERollVel] = transformMotorOutputsToPitchRoll(
- static_cast(msg->velocity.at(mJointDE0Index)),
- static_cast(msg->velocity.at(mJointDE1Index)));
-
- [[maybe_unused]] auto [jointDEPitchPos, jointDERollPos] = transformMotorOutputsToPitchRoll(
- static_cast(msg->position.at(mJointDE0Index)),
- static_cast(msg->position.at(mJointDE1Index)));
-
- auto [jointDEPitchEff, jointDERollEff] = transformMotorOutputsToPitchRoll(
- static_cast(msg->effort.at(mJointDE0Index)),
- static_cast(msg->effort.at(mJointDE1Index)));
-
- mCurrentRawJointDE0Position = Radians{msg->position.at(mJointDE0Index)};
- mCurrentRawJointDE1Position = Radians{msg->position.at(mJointDE1Index)};
-
- jointState.name.at(mJointDE0Index) = "joint_de_0";
- jointState.name.at(mJointDE1Index) = "joint_de_1";
- jointState.velocity.at(mJointDE0Index) = jointDEPitchVel;
- jointState.velocity.at(mJointDE1Index) = jointDERollVel;
- jointState.position.at(mJointDE0Index) = jointDEPitchVel;
- jointState.position.at(mJointDE1Index) = jointDERollVel;
- jointState.effort.at(mJointDE0Index) = jointDEPitchEff;
- jointState.effort.at(mJointDE1Index) = jointDERollEff;
-
- jointState.velocity.at(mJointAIndex) = jointALinVel;
- jointState.position.at(mJointAIndex) = jointALinPos;
+ std::optional jointDe0Index = findJointByName(msg->name, "joint_de_0"), jointDe1Index = findJointByName(msg->name, "joint_de_1");
+ if (jointDe0Index && jointDe1Index) {
+ auto pitchWrapped = wrapAngle(static_cast(msg->position.at(jointDe0Index.value())));
+ auto rollWrapped = wrapAngle(static_cast(msg->position.at(jointDe1Index.value())));
+ mJointDePitchRoll = {pitchWrapped, rollWrapped};
+ jointState.name[jointDe0Index.value()] = "joint_de_pitch";
+ jointState.name[jointDe1Index.value()] = "joint_de_roll";
+ jointState.position[jointDe0Index.value()] = pitchWrapped;
+ jointState.position[jointDe1Index.value()] = rollWrapped;
+ }
mJointDataPub->publish(jointState);
}
- auto ArmTranslator::adjustServiceCallback(AdjustMotor::Request& req, AdjustMotor::Response& res) -> bool {
-
- if (req.name == "joint_de_roll") {
- mJointDERollAdjust = req.value;
- } else if (req.name == "joint_de_pitch") {
- mJointDEPitchAdjust = req.value;
- } else if (req.name == "joint_a") {
- AdjustMotor::Request controllerReq;
- AdjustMotor::Response controllerRes = res;
- controllerReq.value = convertLinPos(static_cast(req.value), mJointALinMult.get());
-
- mAdjustClientsByArmHWNames[req.name].call(controllerReq, controllerRes);
- res.success = controllerRes.success;
- } else {
- AdjustMotor::Request controllerReq = req;
- AdjustMotor::Response controllerRes = res;
- mAdjustClientsByArmHWNames[req.name].call(controllerReq, controllerRes);
- res.success = controllerRes.success;
- }
+ auto ArmTranslator::updateDeOffsets(ros::TimerEvent const&) -> void {
+ if (!mJointDePitchRoll) return;
- if (mJointDEPitchAdjust && mJointDERollAdjust) {
- // convert DE_roll and DE_pitch into DE_0 and DE_1 (outgoing message to arm_hw_bridge)
- auto [joint_de_0_raw_value, joint_de_1_raw_value] = transformPitchRollToMotorOutputs(
- mJointDEPitchAdjust.value(),
- mJointDERollAdjust.value());
- mJointDEPitchAdjust = std::nullopt;
- mJointDERollAdjust = std::nullopt;
-
- float joint_de_0_value = joint_de_0_raw_value + mJointDE0PosOffset->get();
- float joint_de_1_value = joint_de_1_raw_value + mJointDE1PosOffset->get();
-
- AdjustMotor::Response controllerResDE0;
- AdjustMotor::Request controllerReqDE0;
- controllerReqDE0.name = "joint_de_0";
- controllerReqDE0.value = joint_de_0_value;
- mAdjustClientsByArmHWNames[controllerReqDE0.name].call(controllerResDE0, controllerReqDE0);
-
- AdjustMotor::Response controllerResDE1;
- AdjustMotor::Request controllerReqDE1;
- controllerReqDE1.name = "joint_de_1";
- controllerReqDE1.value = joint_de_1_value;
- mAdjustClientsByArmHWNames[controllerReqDE1.name].call(controllerReqDE1, controllerResDE1);
-
- res.success = controllerResDE0.success && controllerResDE1.success;
- } else {
- // adjust service was for de, but both de joints have not adjusted yet
- res.success = false;
+ Vector2 motorPositions = 40 * PITCH_ROLL_TO_0_1 * mJointDePitchRoll.value();
+ {
+ AdjustMotor adjust;
+ adjust.request.name = "joint_de_0";
+ adjust.request.value = motorPositions[0].get();
+ mAdjustClientsByArmHwNames["joint_de_0"].call(adjust);
+ }
+ {
+ AdjustMotor adjust;
+ adjust.request.name = "joint_de_1";
+ adjust.request.value = motorPositions[1].get();
+ mAdjustClientsByArmHwNames["joint_de_1"].call(adjust);
}
- return true;
}
-
-} // namespace mrover
\ No newline at end of file
+} // namespace mrover
diff --git a/src/esw/arm_translator_bridge/arm_translator.hpp b/src/esw/arm_translator_bridge/arm_translator.hpp
index 14beae37e..cbab3a91a 100644
--- a/src/esw/arm_translator_bridge/arm_translator.hpp
+++ b/src/esw/arm_translator_bridge/arm_translator.hpp
@@ -1,12 +1,13 @@
#pragma once
-#include "joint_de_translation.hpp"
-#include "matrix_helper.hpp"
-
+#include
+#include
#include
#include
+#include
#include
+#include
#include
#include
@@ -14,23 +15,33 @@
#include
#include
#include
+#include
#include
#include
+#include
+
#include
-#include
namespace mrover {
+ template
+ using Vector2 = Eigen::Matrix;
+
+ template
+ using Matrix2 = Eigen::Matrix;
+
class ArmTranslator {
public:
ArmTranslator() = default;
- explicit ArmTranslator(ros::NodeHandle& nh);
+ ArmTranslator(ArmTranslator const&) = delete;
+ ArmTranslator(ArmTranslator&&) = delete;
- auto processPitchRawPositionData(std_msgs::Float32::ConstPtr const& msg) -> void;
+ auto operator=(ArmTranslator const&) -> ArmTranslator& = delete;
+ auto operator=(ArmTranslator&&) -> ArmTranslator& = delete;
- auto processRollRawPositionData(std_msgs::Float32::ConstPtr const& msg) -> void;
+ explicit ArmTranslator(ros::NodeHandle& nh);
auto processVelocityCmd(Velocity::ConstPtr const& msg) -> void;
@@ -38,66 +49,28 @@ namespace mrover {
auto processThrottleCmd(Throttle::ConstPtr const& msg) const -> void;
- auto processArmHWJointData(sensor_msgs::JointState::ConstPtr const& msg) -> void;
+ auto processJointState(sensor_msgs::JointState::ConstPtr const& msg) -> void;
- auto adjustServiceCallback(AdjustMotor::Request& req, AdjustMotor::Response& res) -> bool;
+ auto updateDeOffsets(ros::TimerEvent const&) -> void;
private:
- // static void clampValues(float& val1, float& val2, float minValue1, float maxValue1, float minValue2, float maxValue2);
-
- static void mapValue(float& val, float inputMinValue, float inputMaxValue, float outputMinValue, float outputMaxValue);
-
- [[nodiscard]] auto jointDEIsCalibrated() const -> bool;
+ std::vector const mArmHWNames{"joint_a", "joint_b", "joint_c", "joint_de_0", "joint_de_1", "allen_key", "gripper"};
- auto updatePositionOffsets() -> void;
-
- const std::vector mRawArmNames{"joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"};
- const std::vector mArmHWNames{"joint_a", "joint_b", "joint_c", "joint_de_0", "joint_de_1", "allen_key", "gripper"};
std::unique_ptr mThrottlePub;
std::unique_ptr mVelocityPub;
std::unique_ptr mPositionPub;
std::unique_ptr mJointDataPub;
- size_t const mJointDEPitchIndex = std::find(mRawArmNames.begin(), mRawArmNames.end(), "joint_de_pitch") - mRawArmNames.begin();
- size_t const mJointDERollIndex = std::find(mRawArmNames.begin(), mRawArmNames.end(), "joint_de_roll") - mRawArmNames.begin();
- size_t const mJointDE0Index = std::find(mArmHWNames.begin(), mArmHWNames.end(), "joint_de_0") - mArmHWNames.begin();
- size_t const mJointDE1Index = std::find(mArmHWNames.begin(), mArmHWNames.end(), "joint_de_1") - mArmHWNames.begin();
-
- size_t const mJointAIndex = std::find(mArmHWNames.begin(), mArmHWNames.end(), "joint_a") - mArmHWNames.begin();
- std::optional mJointDE0PosOffset = Radians{0};
- std::optional mJointDE1PosOffset = Radians{0};
-
- Radians mJointDEPitchOffset;
- Radians mJointDERollOffset;
-
- std::optional mCurrentRawJointDEPitch;
- std::optional mCurrentRawJointDERoll;
- std::optional mCurrentRawJointDE0Position;
- std::optional mCurrentRawJointDE1Position;
- RadiansPerSecond mMinRadPerSecDE0{};
- RadiansPerSecond mMinRadPerSecDE1{};
- RadiansPerSecond mMaxRadPerSecDE0{};
- RadiansPerSecond mMaxRadPerSecDE1{};
+ ros::Timer mDeOffsetTimer;
- RadiansPerMeter mJointALinMult{}; // TODO: need to be rev/meter for velocity....
-
- ros::Subscriber mJointDEPitchPosSub;
- ros::Subscriber mJointDERollPosSub;
+ std::optional> mJointDePitchRoll;
ros::Subscriber mThrottleSub;
ros::Subscriber mVelocitySub;
ros::Subscriber mPositionSub;
- ros::Subscriber mArmHWJointDataSub;
-
- // TODO:(owen) unique_ptr servers? unique_ptr clients? Both? Neither? The world may never know. (try to learn)
- std::unordered_map mAdjustServersByRawArmNames;
- // std::unordered_map > mCalibrateServer;
-
- std::unordered_map mAdjustClientsByArmHWNames;
- // std::unique_ptr mCalibrateClient;
+ ros::Subscriber mJointDataSub;
- std::optional mJointDEPitchAdjust;
- std::optional mJointDERollAdjust;
+ std::unordered_map mAdjustClientsByArmHwNames;
};
} // namespace mrover
diff --git a/src/esw/arm_translator_bridge/joint_de_translation.hpp b/src/esw/arm_translator_bridge/joint_de_translation.hpp
deleted file mode 100644
index 3108c321d..000000000
--- a/src/esw/arm_translator_bridge/joint_de_translation.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-#include "matrix_helper.hpp"
-#include
-
-namespace mrover {
-
- constexpr std::array, 2> CONVERT_PITCH_ROLL_TO_MOTORS_MATRIX = {{{{40, 40}},
- {{40, -40}}}};
-
- constexpr std::array, 2> CONVERT_MOTORS_TO_PITCH_ROLL_MATRIX = inverseMatrix(CONVERT_PITCH_ROLL_TO_MOTORS_MATRIX);
-
- [[maybe_unused]] static auto transformMotorOutputsToPitchRoll(float motor_0, float motor_1) -> std::pair {
-
- std::array motorsVector = {motor_0, motor_1};
-
- // Perform matrix multiplication
- auto [pitch, roll] = multiplyMatrixByVector(motorsVector, CONVERT_MOTORS_TO_PITCH_ROLL_MATRIX);
-
- return std::make_pair(pitch, roll);
- }
-
- // Function to transform coordinates
- [[maybe_unused]] static auto transformPitchRollToMotorOutputs(float pitch, float roll) -> std::pair {
- // Create the input vector
- std::array pitchRollVector = {pitch, roll};
-
- // Perform matrix multiplication
- auto [m1, m2] = multiplyMatrixByVector(pitchRollVector, CONVERT_PITCH_ROLL_TO_MOTORS_MATRIX);
-
- return std::make_pair(m1, m2);
- }
-} // namespace mrover
diff --git a/src/esw/arm_translator_bridge/matrix_helper.hpp b/src/esw/arm_translator_bridge/matrix_helper.hpp
deleted file mode 100644
index 3b893861e..000000000
--- a/src/esw/arm_translator_bridge/matrix_helper.hpp
+++ /dev/null
@@ -1,24 +0,0 @@
-#pragma once
-
-#include
-
-namespace mrover {
-
- constexpr std::array, 2> inverseMatrix(std::array, 2> const& matrix) {
- float determinant = matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0];
- float invDet = 1.0f / determinant;
-
- std::array, 2> result = {{{matrix[1][1] * invDet, -matrix[0][1] * invDet},
- {-matrix[1][0] * invDet, matrix[0][0] * invDet}}};
-
- return result;
- }
-
- static std::array multiplyMatrixByVector(std::array const& vector, std::array, 2> const& matrix) {
- std::array result = {
- matrix[0][0] * vector[0] + matrix[0][1] * vector[1],
- matrix[1][0] * vector[0] + matrix[1][1] * vector[1]};
- return result;
- }
-
-} // namespace mrover
diff --git a/src/esw/brushless_test_bridge/brushless_test_bridge.cpp b/src/esw/brushless_test_bridge/brushless_test_bridge.cpp
index 74eabdcfd..b8b615121 100644
--- a/src/esw/brushless_test_bridge/brushless_test_bridge.cpp
+++ b/src/esw/brushless_test_bridge/brushless_test_bridge.cpp
@@ -1,3 +1,4 @@
+#include
#include
#include
@@ -5,6 +6,27 @@
#include
#include
+
+// void test_joint_de(ros::NodeHandle& nh) {
+
+// auto brushlessController_de0 = std::make_unique(nh, "jetson", "joint_de_0");
+// auto brushlessController_de1 = std::make_unique(nh, "jetson", "joint_de_1");
+
+// brushlessController_de0->setStop();
+// brushlessController_de1->setStop();
+
+// ros::Rate rate{20};
+// while (ros::ok()) {
+// brushlessController_de0->setDesiredVelocity(mrover::RadiansPerSecond{60.0});
+// brushlessController_de1->setDesiredVelocity(mrover::RadiansPerSecond{60.0});
+
+// ros::spinOnce();
+// rate.sleep();
+// }
+
+
+// }
+
auto main(int argc, char** argv) -> int {
// Initialize the ROS node
ros::init(argc, argv, "brushless_test_bridge");
@@ -24,44 +46,64 @@ auto main(int argc, char** argv) -> int {
// auto brushlessController_de0 = std::make_unique(nh, "jetson", "joint_de_0");
// auto brushlessController_de1 = std::make_unique(nh, "jetson", "joint_de_1");
-
+
// fake DE publisher:
- auto DEPub = std::make_unique(nh.advertise("arm_velocity_cmd", 1));
- auto SAPub = std::make_unique(nh.advertise("sa_velocity_cmd", 1));
+ // auto DEPub = std::make_unique(nh.advertise("arm_velocity_cmd", 1));
+ // auto SAPub = std::make_unique(nh.advertise("sa_velocity_cmd", 1));
+ auto dePub = nh.advertise("arm_position_cmd", 1);
- mrover::Velocity armMsg;
- mrover::Velocity saMsg;
+ mrover::Position armMsg;
armMsg.names = {"joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"};
- armMsg.velocities = {0, 0, 0, 20, 20, 0, 0};
+ armMsg.positions = {0, 0, 0, 0, 0, 0, 0};
+
+ std::size_t index = 0;
+ auto timer = ros::Timer(nh.createTimer(ros::Duration{10}, [&](ros::TimerEvent const&) {
+ armMsg.positions[3] = std::array{-1, 1, 0, 0, 0, 0, -1}[index];
+ armMsg.positions[4] = std::array{0, 0, 0, -3.14, 3.14, 0, 3.14}[index];
+ index = (index + 1) % 7;
+ }));
+
+ ros::Rate rate{20};
+ while (ros::ok()) {
+ dePub.publish(armMsg);
+ ros::spinOnce();
+ rate.sleep();
+ }
+
+ // mrover::Velocity armMsg;
+ // mrover::Velocity saMsg;
+ // armMsg.names = {"joint_a", "joint_b", "joint_c", "joint_de_pitch", "joint_de_roll", "allen_key", "gripper"};
+ // armMsg.velocities = {0, 0, 0, 0, -10, 0, 0};
- saMsg.names = {"sa_x", "sa_y", "sa_z", "sampler", "sensor_actuator"};
- saMsg.velocities = {0, 0, 0.07,0, 0};
+ // saMsg.names = {"sa_x", "sa_y", "sa_z", "sampler", "sensor_actuator"};
+ // saMsg.velocities = {0, 0, 0.07,0, 0};
// brushlessController_de0->setStop();
// brushlessController_de1->setStop();
- ros::Rate rate{15};
-
- int count = 0;
-
- while(ros::ok()){
- // publish DE velocity:
- DEPub->publish(armMsg);
- SAPub->publish(saMsg);
- count++;
+ // ros::Rate rate{15};
+ //
+ // int count = 0;
+ //
+ //
+ // while (ros::ok()) {
+ // // publish DE velocity:
+ // DEPub->publish(armMsg);
+ // // SAPub->publish(saMsg);
+ // count++;
+ //
+ // if (count > 100) {
+ // armMsg.velocities[3] *= -1;
+ // armMsg.velocities[4] *= -1;
+ // count = 0;
+ // }
+ //
+ // ros::spinOnce();
+ // rate.sleep();
+ // }
- if(count > 100) {
- armMsg.velocities[3] *= -1;
- armMsg.velocities[4] *= -1;
- count = 0;
- }
-
- ros::spinOnce();
- rate.sleep();
- }
return EXIT_SUCCESS;
}
-
diff --git a/src/esw/can_device/can_device.hpp b/src/esw/can_device/can_device.hpp
index 9c966deca..464d80bf2 100644
--- a/src/esw/can_device/can_device.hpp
+++ b/src/esw/can_device/can_device.hpp
@@ -11,7 +11,6 @@
#include
-#define CANFD_FDF 0x04
#include
namespace mrover {
diff --git a/src/esw/drive_bridge/main.cpp b/src/esw/drive_bridge/main.cpp
index 7a895dd21..cc30f11b5 100644
--- a/src/esw/drive_bridge/main.cpp
+++ b/src/esw/drive_bridge/main.cpp
@@ -9,11 +9,9 @@ using namespace mrover;
void moveDrive(geometry_msgs::Twist::ConstPtr const& msg);
-std::unique_ptr driveManager;
-std::vector driveNames{"front_left", "front_right", "middle_left", "middle_right", "back_left", "back_right"};
+ros::Publisher leftVelocityPub, rightVelocityPub;
Meters WHEEL_DISTANCE_INNER;
-Meters WHEEL_DISTANCE_OUTER;
compound_unit> WHEEL_LINEAR_TO_ANGULAR;
RadiansPerSecond MAX_MOTOR_SPEED;
@@ -24,9 +22,7 @@ auto main(int argc, char** argv) -> int {
// Load rover dimensions and other parameters from the ROS parameter server
auto roverWidth = requireParamAsUnit(nh, "rover/width");
- auto roverLength = requireParamAsUnit(nh, "rover/length");
WHEEL_DISTANCE_INNER = roverWidth / 2;
- WHEEL_DISTANCE_OUTER = sqrt(((roverWidth / 2) * (roverWidth / 2)) + ((roverLength / 2) * (roverLength / 2)));
auto ratioMotorToWheel = requireParamAsUnit(nh, "wheel/gear_ratio");
auto wheelRadius = requireParamAsUnit(nh, "wheel/radius");
@@ -38,10 +34,14 @@ auto main(int argc, char** argv) -> int {
MAX_MOTOR_SPEED = maxLinearSpeed * WHEEL_LINEAR_TO_ANGULAR;
- driveManager = std::make_unique(nh, "drive");
+ auto leftGroup = std::make_unique(nh, "drive_left");
+ auto rightGroup = std::make_unique(nh, "drive_right");
+
+ leftVelocityPub = nh.advertise("drive_left_velocity_cmd", 1);
+ rightVelocityPub = nh.advertise("drive_right_velocity_cmd", 1);
// Subscribe to the ROS topic for drive commands
- ros::Subscriber moveDriveSubscriber = nh.subscribe("cmd_vel", 1, moveDrive);
+ auto twistSubscriber = nh.subscribe("cmd_vel", 1, moveDrive);
// Enter the ROS event loop
ros::spin();
@@ -59,16 +59,17 @@ void moveDrive(geometry_msgs::Twist::ConstPtr const& msg) {
RadiansPerSecond left = (forward - delta) * WHEEL_LINEAR_TO_ANGULAR;
RadiansPerSecond right = (forward + delta) * WHEEL_LINEAR_TO_ANGULAR;
- std::unordered_map driveCommandVelocities{
- {"front_left", left},
- {"front_right", right},
- {"middle_left", left},
- {"middle_right", right},
- {"back_left", left},
- {"back_right", right},
- };
-
- for (auto [name, angularVelocity]: driveCommandVelocities) {
- driveManager->getController(name).setDesiredVelocity(angularVelocity);
+ {
+ Velocity leftVelocity;
+ leftVelocity.names = {"front_left", "middle_left", "back_left"};
+ // TODO(quintin): Invert in firmware
+ leftVelocity.velocities = {-left.get(), -left.get(), -left.get()};
+ leftVelocityPub.publish(leftVelocity);
+ }
+ {
+ Velocity rightVelocity;
+ rightVelocity.names = {"front_right", "middle_right", "back_right"};
+ rightVelocity.velocities = {right.get(), right.get(), right.get()};
+ rightVelocityPub.publish(rightVelocity);
}
}
diff --git a/src/esw/fw/bdcmc/.mxproject b/src/esw/fw/bdcmc/.mxproject
index 39d7f8d4a..4f2334bec 100644
--- a/src/esw/fw/bdcmc/.mxproject
+++ b/src/esw/fw/bdcmc/.mxproject
@@ -1,25 +1,25 @@
[PreviousLibFiles]
-LibFiles=Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_fdcan.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_def.h;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_bus.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_system.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_utils.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_crs.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dmamux.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_fdcan.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_def.h;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_bus.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_system.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_utils.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_crs.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dmamux.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g431xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g4xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/system_stm32g4xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cm35p.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/cmsis_armclang_ltm.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/core_armv81mml.h;Drivers/CMSIS/Include/cmsis_armclang.h;
+LibFiles=Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_fdcan.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_def.h;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_bus.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_system.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_utils.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_crs.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ramfunc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dmamux.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_i2c.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_i2c.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_i2c_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_tim.h;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_fdcan.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_def.h;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_bus.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_system.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_utils.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_crs.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ramfunc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dmamux.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_i2c.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_i2c.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_i2c_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_tim.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\stm32g431xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\stm32g4xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\system_stm32g4xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
[PreviousUsedCubeIDEFiles]
-SourceFiles=Core/Src/main.c;Core/Src/stm32g4xx_it.c;Core/Src/stm32g4xx_hal_msp.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;;;
-HeaderPath=Drivers/STM32G4xx_HAL_Driver/Inc;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32G4xx/Include;Drivers/CMSIS/Include;Core/Inc;
+SourceFiles=Core\Src\main.c;Core\Src\stm32g4xx_it.c;Core\Src\stm32g4xx_hal_msp.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;;;
+HeaderPath=Drivers\STM32G4xx_HAL_Driver\Inc;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32G4xx\Include;Drivers\CMSIS\Include;Core\Inc;
CDefines=USE_HAL_DRIVER;STM32G431xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
[PreviousGenFiles]
AdvancedFolderStructure=true
HeaderFileListSize=3
-HeaderFiles#0=../Core/Inc/stm32g4xx_it.h
-HeaderFiles#1=../Core/Inc/stm32g4xx_hal_conf.h
-HeaderFiles#2=../Core/Inc/main.h
+HeaderFiles#0=..\Core\Inc\stm32g4xx_it.h
+HeaderFiles#1=..\Core\Inc\stm32g4xx_hal_conf.h
+HeaderFiles#2=..\Core\Inc\main.h
HeaderFolderListSize=1
-HeaderPath#0=../Core/Inc
+HeaderPath#0=..\Core\Inc
HeaderFiles=;
SourceFileListSize=3
-SourceFiles#0=../Core/Src/stm32g4xx_it.c
-SourceFiles#1=../Core/Src/stm32g4xx_hal_msp.c
-SourceFiles#2=../Core/Src/main.c
+SourceFiles#0=..\Core\Src\stm32g4xx_it.c
+SourceFiles#1=..\Core\Src\stm32g4xx_hal_msp.c
+SourceFiles#2=..\Core\Src\main.c
SourceFolderListSize=1
-SourcePath#0=../Core/Src
+SourcePath#0=..\Core\Src
SourceFiles=;
diff --git a/src/esw/fw/bdcmc/Core/Inc/controller.hpp b/src/esw/fw/bdcmc/Core/Inc/controller.hpp
index f5538f58b..4d8d6902d 100644
--- a/src/esw/fw/bdcmc/Core/Inc/controller.hpp
+++ b/src/esw/fw/bdcmc/Core/Inc/controller.hpp
@@ -173,15 +173,14 @@ namespace mrover {
StateAfterConfig config{.gear_ratio = message.gear_ratio};
if (message.enc_info.quad_present) {
- Ratio multiplier = (message.enc_info.quad_is_forward_polarity ? 1 : -1) * message.enc_info.quad_ratio;
- if (!m_relative_encoder) m_relative_encoder.emplace(m_encoder_timer, multiplier, m_encoder_elapsed_timer);
+ if (!m_relative_encoder) m_relative_encoder.emplace(m_encoder_timer, message.enc_info.quad_ratio, m_encoder_elapsed_timer);
}
if (message.enc_info.abs_present) {
- Ratio multiplier = (message.enc_info.abs_is_forward_polarity ? 1 : -1) * message.enc_info.abs_ratio;
- if (!m_absolute_encoder) m_absolute_encoder.emplace(AbsoluteEncoderReader::AS5048B_Bus{m_absolute_encoder_i2c}, message.enc_info.abs_offset, multiplier, m_encoder_elapsed_timer);
+ if (!m_absolute_encoder) m_absolute_encoder.emplace(AbsoluteEncoderReader::AS5048B_Bus{m_absolute_encoder_i2c}, message.enc_info.abs_offset, message.enc_info.abs_ratio, m_encoder_elapsed_timer);
}
m_motor_driver.change_max_pwm(message.max_pwm);
+ m_motor_driver.change_inverted(message.is_inverted);
config.min_position = message.min_position;
config.max_position = message.max_position;
@@ -249,10 +248,10 @@ namespace mrover {
m_desired_output = mode.pidf.calculate(input, target, cycle_time(m_pidf_timer, CLOCK_FREQ));
m_error = BDCMCErrorInfo::NO_ERROR;
- m_fdcan.broadcast(OutBoundMessage{DebugState{
- .f1 = m_velocity.value().get(),
- .f2 = message.velocity.get(),
- }});
+ // m_fdcan.broadcast(OutBoundMessage{DebugState{
+ // .f1 = m_velocity.value().get(),
+ // .f2 = message.velocity.get(),
+ // }});
}
auto process_command(PositionCommand const& message, PositionMode& mode) -> void {
@@ -456,12 +455,15 @@ namespace mrover {
update();
}
+ // Max hits before we remove the calibration state
+ constexpr static std::size_t MAX_MISSED_ABSOLUTE_ENCODER_READS = 32;
+
auto request_absolute_encoder_data() -> void {
// Only read the encoder if we are configured
if (m_absolute_encoder) {
m_absolute_encoder->request_raw_angle();
// TODO(quintin): No magic numbers
- if (m_missed_absolute_encoder_reads++ > 32) {
+ if (m_missed_absolute_encoder_reads++ > MAX_MISSED_ABSOLUTE_ENCODER_READS) {
m_state_after_calib.reset();
}
}
@@ -488,9 +490,9 @@ namespace mrover {
// TODO(quintin): This is pretty stupid
m_state_after_calib->offset_position = -position;
- m_fdcan.broadcast(OutBoundMessage{DebugState{
- .f1 = position.get(),
- }});
+ // m_fdcan.broadcast(OutBoundMessage{DebugState{
+ // .f1 = position.get(),
+ // }});
m_uncalib_position.emplace(); // Reset to zero
m_velocity = velocity;
diff --git a/src/esw/fw/bdcmc/Core/Inc/hbridge.hpp b/src/esw/fw/bdcmc/Core/Inc/hbridge.hpp
index c759ff1bf..e01f59fa4 100644
--- a/src/esw/fw/bdcmc/Core/Inc/hbridge.hpp
+++ b/src/esw/fw/bdcmc/Core/Inc/hbridge.hpp
@@ -7,25 +7,28 @@
namespace mrover {
- struct HBridge {
+ class HBridge {
+ Pin m_positive_pin{};
+ Pin m_negative_pin{};
+ TIM_HandleTypeDef* m_timer{};
+ std::uint32_t m_channel = TIM_CHANNEL_1;
+ Percent m_max_pwm{};
+ bool m_is_inverted = false;
+
+ public:
HBridge() = default;
- explicit HBridge(TIM_HandleTypeDef* timer, Pin forward_pin, Pin reverse_pin);
+ explicit HBridge(TIM_HandleTypeDef* timer, Pin positive_pin, Pin negative_pin);
- void write(Percent output) const;
+ auto write(Percent output) const -> void;
- void change_max_pwm(Percent max_pwm);
+ auto set_direction_pins(Percent duty_cycle) const -> void;
- private:
- void set_direction_pins(Percent duty_cycle) const;
+ auto set_duty_cycle(Percent duty_cycle, Percent max_duty_cycle) const -> void;
- void set_duty_cycle(Percent duty_cycle, Percent max_duty_cycle) const;
+ auto change_max_pwm(Percent max_pwm) -> void;
- Pin m_forward_pins{};
- Pin m_reverse_pins{};
- TIM_HandleTypeDef* m_timer{};
- std::uint32_t m_channel = TIM_CHANNEL_1;
- Percent m_max_pwm{};
+ auto change_inverted(bool inverted) -> void;
};
} // namespace mrover
diff --git a/src/esw/fw/bdcmc/Core/Src/hbridge.cpp b/src/esw/fw/bdcmc/Core/Src/hbridge.cpp
index 2ca1e595a..3e5f48e2c 100644
--- a/src/esw/fw/bdcmc/Core/Src/hbridge.cpp
+++ b/src/esw/fw/bdcmc/Core/Src/hbridge.cpp
@@ -5,9 +5,9 @@
namespace mrover {
- HBridge::HBridge(TIM_HandleTypeDef* timer, Pin forward_pin, Pin reverse_pin)
- : m_forward_pins{forward_pin},
- m_reverse_pins{reverse_pin},
+ HBridge::HBridge(TIM_HandleTypeDef* timer, Pin positive_pin, Pin negative_pin)
+ : m_positive_pin{positive_pin},
+ m_negative_pin{negative_pin},
m_timer{timer},
m_max_pwm{0_percent} {
@@ -16,18 +16,22 @@ namespace mrover {
HAL_TIM_PWM_Start(m_timer, m_channel);
}
- void HBridge::write(Percent output) const {
+ auto HBridge::write(Percent output) const -> void {
// Set direction pins/duty cycle
set_direction_pins(output);
set_duty_cycle(output, m_max_pwm);
}
- void HBridge::set_direction_pins(Percent duty_cycle) const {
- m_forward_pins.write(duty_cycle < 0_percent ? GPIO_PIN_SET : GPIO_PIN_RESET);
- m_reverse_pins.write(duty_cycle > 0_percent ? GPIO_PIN_SET : GPIO_PIN_RESET);
+ auto HBridge::set_direction_pins(Percent duty_cycle) const -> void {
+ // TODO(quintin): Guthrie says only one of these pins is actually used?
+ GPIO_PinState positive_state = duty_cycle > 0_percent ? GPIO_PIN_SET : GPIO_PIN_RESET;
+ GPIO_PinState negative_state = duty_cycle < 0_percent ? GPIO_PIN_SET : GPIO_PIN_RESET;
+ if (m_is_inverted) std::swap(positive_state, negative_state);
+ m_positive_pin.write(positive_state);
+ m_negative_pin.write(negative_state);
}
- void HBridge::set_duty_cycle(Percent duty_cycle, Percent max_duty_cycle) const {
+ auto HBridge::set_duty_cycle(Percent duty_cycle, Percent max_duty_cycle) const -> void {
// Clamp absolute value of the duty cycle to the supported range
duty_cycle = std::clamp(abs(duty_cycle), 0_percent, max_duty_cycle);
@@ -39,8 +43,12 @@ namespace mrover {
// TODO(quintin) we should error if the registers are null pointers
}
- void HBridge::change_max_pwm(Percent max_pwm) {
+ auto HBridge::change_max_pwm(Percent max_pwm) -> void {
m_max_pwm = max_pwm;
}
+ auto HBridge::change_inverted(bool inverted) -> void {
+ m_is_inverted = inverted;
+ }
+
} // namespace mrover
\ No newline at end of file
diff --git a/src/esw/fw/bdcmc/Core/Src/main.c b/src/esw/fw/bdcmc/Core/Src/main.c
index 2b17a80ae..f0f572550 100644
--- a/src/esw/fw/bdcmc/Core/Src/main.c
+++ b/src/esw/fw/bdcmc/Core/Src/main.c
@@ -89,7 +89,6 @@ void HAL_PostInit();
*/
int main(void)
{
-
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
@@ -245,7 +244,7 @@ static void MX_FDCAN1_Init(void)
hfdcan1.Init.DataTimeSeg1 = 14;
hfdcan1.Init.DataTimeSeg2 = 13;
hfdcan1.Init.StdFiltersNbr = 0;
- hfdcan1.Init.ExtFiltersNbr = 0;
+ hfdcan1.Init.ExtFiltersNbr = 1;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
diff --git a/src/esw/fw/bdcmc/Core/Src/stm32g4xx_hal_msp.c b/src/esw/fw/bdcmc/Core/Src/stm32g4xx_hal_msp.c
index 1ebcf1654..eb37487cb 100644
--- a/src/esw/fw/bdcmc/Core/Src/stm32g4xx_hal_msp.c
+++ b/src/esw/fw/bdcmc/Core/Src/stm32g4xx_hal_msp.c
@@ -20,6 +20,7 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
+
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@@ -67,7 +68,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
*/
void HAL_MspInit(void)
{
-
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
diff --git a/src/esw/fw/bdcmc/bdcmc.ioc b/src/esw/fw/bdcmc/bdcmc.ioc
index cc4874ff7..df4ab75e2 100644
--- a/src/esw/fw/bdcmc/bdcmc.ioc
+++ b/src/esw/fw/bdcmc/bdcmc.ioc
@@ -47,8 +47,9 @@ FDCAN1.DataPrescaler=1
FDCAN1.DataSyncJumpWidth=13
FDCAN1.DataTimeSeg1=14
FDCAN1.DataTimeSeg2=13
+FDCAN1.ExtFiltersNbr=1
FDCAN1.FrameFormat=FDCAN_FRAME_FD_NO_BRS
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,Mode,AutoRetransmission
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,Mode,AutoRetransmission,ExtFiltersNbr
FDCAN1.Mode=FDCAN_MODE_NORMAL
FDCAN1.NominalPrescaler=1
FDCAN1.NominalSyncJumpWidth=19
@@ -114,8 +115,8 @@ Mcu.PinsNb=32
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32G431CBUx
-MxCube.Version=6.11.0
-MxDb.Version=DB.6.0.110
+MxCube.Version=6.10.0
+MxDb.Version=DB.6.0.100
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DMA1_Channel1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DMA1_Channel2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
diff --git a/src/esw/fw/pdlb/Core/Inc/diag_temp_sensor.hpp b/src/esw/fw/pdlb/Core/Inc/diag_temp_sensor.hpp
index 151f77556..39e9ccd85 100644
--- a/src/esw/fw/pdlb/Core/Inc/diag_temp_sensor.hpp
+++ b/src/esw/fw/pdlb/Core/Inc/diag_temp_sensor.hpp
@@ -9,6 +9,8 @@
#include
#include
+// TMP6431DECR
+
namespace mrover {
class DiagTempSensor {
diff --git a/src/esw/fw/pdlb/Core/Src/diag_temp_sensor.cpp b/src/esw/fw/pdlb/Core/Src/diag_temp_sensor.cpp
index 8c7bcd597..f3f2a4c95 100644
--- a/src/esw/fw/pdlb/Core/Src/diag_temp_sensor.cpp
+++ b/src/esw/fw/pdlb/Core/Src/diag_temp_sensor.cpp
@@ -5,6 +5,8 @@
#include
+// TMP6431DECR
+
namespace mrover {
constexpr static float DIAG_TEMP_COEFFICIENT = 0.0064f;
@@ -23,6 +25,7 @@ namespace mrover {
void DiagTempSensor::update_temp() {
uint16_t adc_val = m_adc_sensor->get_raw_channel_value(m_channel);
float measured_volts = (adc_val * 3.3f) / 4096.0f;
+
m_temp = (THRM_A4 * powf(measured_volts,4)) + (THRM_A3 * powf(measured_volts,3)) + (THRM_A2 * powf(measured_volts,2)) + (THRM_A1 * measured_volts) + THRM_A0;
}
diff --git a/src/esw/fw/pdlb/Core/Src/main.c b/src/esw/fw/pdlb/Core/Src/main.c
index 10d641360..98a6fe28c 100644
--- a/src/esw/fw/pdlb/Core/Src/main.c
+++ b/src/esw/fw/pdlb/Core/Src/main.c
@@ -205,6 +205,7 @@ int main(void)
/* Start scheduler */
osKernelStart();
+
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
@@ -317,7 +318,7 @@ static void MX_ADC1_Init(void)
*/
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_REGULAR_RANK_1;
- sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
+ sConfig.SamplingTime = ADC_SAMPLETIME_12CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
@@ -457,7 +458,7 @@ static void MX_ADC2_Init(void)
*/
sConfig.Channel = ADC_CHANNEL_10;
sConfig.Rank = ADC_REGULAR_RANK_1;
- sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
+ sConfig.SamplingTime = ADC_SAMPLETIME_640CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
@@ -511,7 +512,7 @@ static void MX_FDCAN1_Init(void)
hfdcan1.Init.DataTimeSeg1 = 14;
hfdcan1.Init.DataTimeSeg2 = 13;
hfdcan1.Init.StdFiltersNbr = 0;
- hfdcan1.Init.ExtFiltersNbr = 0;
+ hfdcan1.Init.ExtFiltersNbr = 1;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
@@ -624,7 +625,7 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
void SendCurrentTemperature(void* argument) {
for(;;) {
- uint32_t tick = osKernelGetTickCount() + osKernelGetTickFreq(); // 1 Hz
+ uint32_t tick = osKernelGetTickCount() + (osKernelGetTickFreq() / 10.0); // 10 Hz
update_and_send_current_temp();
osDelayUntil(tick);
diff --git a/src/esw/fw/pdlb/Core/Src/stm32g4xx_hal_msp.c b/src/esw/fw/pdlb/Core/Src/stm32g4xx_hal_msp.c
index e8a63291c..4685060eb 100644
--- a/src/esw/fw/pdlb/Core/Src/stm32g4xx_hal_msp.c
+++ b/src/esw/fw/pdlb/Core/Src/stm32g4xx_hal_msp.c
@@ -20,6 +20,7 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
+
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@@ -152,8 +153,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
- hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
- hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+ hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+ hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
hdma_adc1.Init.Mode = DMA_NORMAL;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
@@ -211,8 +212,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
hdma_adc2.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc2.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc2.Init.MemInc = DMA_MINC_ENABLE;
- hdma_adc2.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
- hdma_adc2.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+ hdma_adc2.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+ hdma_adc2.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
hdma_adc2.Init.Mode = DMA_NORMAL;
hdma_adc2.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_adc2) != HAL_OK)
diff --git a/src/esw/fw/pdlb/pdlb.ioc b/src/esw/fw/pdlb/pdlb.ioc
index 7d0bf72af..90d1e4a67 100644
--- a/src/esw/fw/pdlb/pdlb.ioc
+++ b/src/esw/fw/pdlb/pdlb.ioc
@@ -33,16 +33,16 @@ ADC1.Rank-6\#ChannelRegularConversion=7
ADC1.Rank-7\#ChannelRegularConversion=8
ADC1.Rank-8\#ChannelRegularConversion=9
ADC1.Rank-9\#ChannelRegularConversion=10
-ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-7\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-8\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC1.SamplingTime-9\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-7\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-8\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
+ADC1.SamplingTime-9\#ChannelRegularConversion=ADC_SAMPLETIME_12CYCLES_5
ADC1.master=1
ADC2.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_10
ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_15
@@ -54,18 +54,18 @@ ADC2.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
ADC2.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE
ADC2.Rank-0\#ChannelRegularConversion=1
ADC2.Rank-1\#ChannelRegularConversion=2
-ADC2.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
-ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC2.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_640CYCLES_5
+ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_640CYCLES_5
CAD.formats=
CAD.pinconfig=
CAD.provider=
Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC1.0.EventEnable=DISABLE
Dma.ADC1.0.Instance=DMA1_Channel1
-Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_WORD
Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
Dma.ADC1.0.Mode=DMA_NORMAL
-Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_WORD
Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
@@ -79,10 +79,10 @@ Dma.ADC1.0.SyncSignalID=NONE
Dma.ADC2.1.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC2.1.EventEnable=DISABLE
Dma.ADC2.1.Instance=DMA1_Channel2
-Dma.ADC2.1.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.ADC2.1.MemDataAlignment=DMA_MDATAALIGN_WORD
Dma.ADC2.1.MemInc=DMA_MINC_ENABLE
Dma.ADC2.1.Mode=DMA_NORMAL
-Dma.ADC2.1.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.ADC2.1.PeriphDataAlignment=DMA_PDATAALIGN_WORD
Dma.ADC2.1.PeriphInc=DMA_PINC_DISABLE
Dma.ADC2.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.ADC2.1.Priority=DMA_PRIORITY_LOW
@@ -104,8 +104,9 @@ FDCAN1.DataPrescaler=5
FDCAN1.DataSyncJumpWidth=13
FDCAN1.DataTimeSeg1=14
FDCAN1.DataTimeSeg2=13
+FDCAN1.ExtFiltersNbr=1
FDCAN1.FrameFormat=FDCAN_FRAME_FD_NO_BRS
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,DataSyncJumpWidth,NominalSyncJumpWidth,NominalTimeSeg1,NominalTimeSeg2,NominalPrescaler,DataTimeSeg1,DataTimeSeg2,TransmitPause,AutoRetransmission,DataPrescaler
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,DataSyncJumpWidth,NominalSyncJumpWidth,NominalTimeSeg1,NominalTimeSeg2,NominalPrescaler,DataTimeSeg1,DataTimeSeg2,TransmitPause,AutoRetransmission,DataPrescaler,ExtFiltersNbr
FDCAN1.NominalPrescaler=1
FDCAN1.NominalSyncJumpWidth=19
FDCAN1.NominalTimeSeg1=120
@@ -157,8 +158,8 @@ Mcu.PinsNb=24
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32G431CBUx
-MxCube.Version=6.8.1
-MxDb.Version=DB.6.0.81
+MxCube.Version=6.10.0
+MxDb.Version=DB.6.0.100
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.DMA1_Channel1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Channel2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@@ -276,7 +277,7 @@ ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
+ProjectManager.LastFirmware=false
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
diff --git a/src/esw/fw/science/Core/Src/heater.cpp b/src/esw/fw/science/Core/Src/heater.cpp
index 80c5c5b97..6cfeb20e8 100644
--- a/src/esw/fw/science/Core/Src/heater.cpp
+++ b/src/esw/fw/science/Core/Src/heater.cpp
@@ -16,7 +16,7 @@ namespace mrover {
: m_diag_temp_sensor(std::move(diag_temp_sensor)),
m_heater_pin(std::move(heater_pin)),
m_state(false),
- m_auto_shutoff_enabled(true),
+ m_auto_shutoff_enabled(true), // TODO - may want to make true if thermistors work
m_last_time_received_message(0)
{}
diff --git a/src/esw/fw/science/Core/Src/science.cpp b/src/esw/fw/science/Core/Src/science.cpp
index bd7caf132..80c9db563 100644
--- a/src/esw/fw/science/Core/Src/science.cpp
+++ b/src/esw/fw/science/Core/Src/science.cpp
@@ -130,8 +130,26 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* hfdcan, uint32_t RxFifo0ITs)
}
}
+//void HAL_I2C_MasterTXCpltCallback(I2C_HandleTypeDef *hi2c) {
+// HAL_I2C_Master_Receive_IT(hi2c, (mrover::Spectral::SPECTRAL_7b_ADDRESS << 1 | 1), (uint8_t*)spectral_status_buffer, sizeof(spectral_status_buffer));
+//}
+//
+//void HAL_I2C_MasterRXCpltCallback(I2C_HandleTypeDef *hi2c) {
+// // If we want to use this for anything else than checking spectral status reg,
+// // then this function needs additional logic
+//
+// if ((spectral_status_buffer[0] & mrover::Spectral::I2C_AS72XX_SLAVE_TX_VALID) == 0) {
+// osSemaphoreRelease(spectral_write_status);
+// }
+//
+// if ((spectral_status_buffer[0] & mrover::Spectral::I2C_AS72XX_SLAVE_RX_VALID) == 0) {
+// osSemaphoreRelease(spectral_read_status);
+// }
+//
+//}
+
void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
// Something is most likely wrong with the I2C bus
// if we get to this point
mrover::science.reboot_i2c();
-}
\ No newline at end of file
+}
diff --git a/src/esw/fw/science/Core/Src/spectral.cpp b/src/esw/fw/science/Core/Src/spectral.cpp
index 11b10fc07..410ee8f20 100644
--- a/src/esw/fw/science/Core/Src/spectral.cpp
+++ b/src/esw/fw/science/Core/Src/spectral.cpp
@@ -41,11 +41,13 @@ namespace mrover {
else {
m_error = true;
m_initialized = false;
+// return;
}
osDelay(5); // Non blocking delay
}
+ //throw mrover::I2CRuntimeError("SPECTRAL");
m_error = true;
m_initialized = false;
}
@@ -63,6 +65,8 @@ namespace mrover {
// DATA_RDY is 0 and RSVD is 0
virtual_write(CONTROL_SETUP_REG, control_data);
osDelay(50);
+// virtual_write(CONTROL_SETUP_REG, control_data);
+// osDelay(50);
// Integration time = 2.8ms & 0xFF
uint8_t int_time_multiplier = 0xFF; //0xFF;
@@ -111,12 +115,19 @@ namespace mrover {
void Spectral::virtual_write(uint8_t virtual_reg, uint8_t data) {
poll_status_reg(I2C_OP::WRITE);
- uint8_t buf[2] = {I2C_AS72XX_WRITE_REG, (virtual_reg | 0x80)};
- m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf);
-
+ uint8_t buf[2];
+ buf[0] = I2C_AS72XX_WRITE_REG;
+ buf[1] = (virtual_reg | 0x80);
+// m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf[0]);
+ // How to send multiple bytes?
+ HAL_I2C_Master_Transmit(&hi2c1, SPECTRAL_7b_ADDRESS << 1, buf, sizeof(buf), 100);
+
poll_status_reg(I2C_OP::WRITE);
buf[1] = data;
- m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf);
+// m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf[0]);
+
+ HAL_I2C_Master_Transmit(&hi2c1, SPECTRAL_7b_ADDRESS << 1, buf, sizeof(buf), 100);
+
}
uint8_t Spectral::virtual_read(uint8_t virtual_reg) {
@@ -144,9 +155,14 @@ namespace mrover {
if (m_error) {
return 0;
}
- uint8_t buf[2] = {I2C_AS72XX_WRITE_REG, virtual_reg};
+ uint8_t buf[2];
+ buf[0] = I2C_AS72XX_WRITE_REG;
+ buf[1] = virtual_reg;
+ HAL_I2C_Master_Transmit(&hi2c1, SPECTRAL_7b_ADDRESS << 1, buf, sizeof(buf), 100);
+ // UNABLE TO USE this format because TSend is 1 byte, need to double up
+ // TODO resolve this somehow...
+// m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf[0]);
- m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf);
poll_status_reg(I2C_OP::READ);
@@ -155,6 +171,8 @@ namespace mrover {
}
auto result = m_i2c_bus->blocking_transact(SPECTRAL_7b_ADDRESS, I2C_AS72XX_READ_REG);
+// m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, I2C_AS72XX_READ_REG);
+// auto result = m_i2c_bus->blocking_receive(SPECTRAL_7b_ADDRESS);
if(!result.has_value()){
m_error = true;
return 0;
diff --git a/src/esw/led/main.cpp b/src/esw/led/main.cpp
index 55a9a2a0a..8e1220683 100644
--- a/src/esw/led/main.cpp
+++ b/src/esw/led/main.cpp
@@ -13,7 +13,7 @@ enum class LEDMode {
Blue = 4
};
-static constexpr std::string DONE_STATE = "DoneState";
+static constexpr std::string_view DONE_STATE = "DoneState";
ros::Publisher led_publisher;
diff --git a/src/esw/mast_gimbal_bridge/main.cpp b/src/esw/mast_gimbal_bridge/main.cpp
index 3a7d7bad2..8dcc84b01 100644
--- a/src/esw/mast_gimbal_bridge/main.cpp
+++ b/src/esw/mast_gimbal_bridge/main.cpp
@@ -8,7 +8,7 @@ auto main(int argc, char** argv) -> int {
ros::NodeHandle nh;
// Load motor controllers configuration from the ROS parameter server
- [[maybe_unused]] auto mastGimbalManager = std::make_unique(nh, "mast_gimbal");
+ mrover::MotorsGroup group{nh, "mast_gimbal"};
// Enter the ROS event loop
ros::spin();
diff --git a/src/esw/motor_library/brushed.cpp b/src/esw/motor_library/brushed.cpp
index 9f7448fbb..46d84f085 100644
--- a/src/esw/motor_library/brushed.cpp
+++ b/src/esw/motor_library/brushed.cpp
@@ -2,19 +2,14 @@
namespace mrover {
- BrushedController::BrushedController(ros::NodeHandle const& nh, std::string name, std::string controllerName)
- : Controller{nh, std::move(name), std::move(controllerName)} {
+ BrushedController::BrushedController(ros::NodeHandle const& nh, std::string masterName, std::string controllerName)
+ : ControllerBase{nh, std::move(masterName), std::move(controllerName)} {
XmlRpc::XmlRpcValue brushedMotorData;
assert(mNh.hasParam(std::format("brushed_motors/controllers/{}", mControllerName)));
mNh.getParam(std::format("brushed_motors/controllers/{}", mControllerName), brushedMotorData);
assert(brushedMotorData.getType() == XmlRpc::XmlRpcValue::TypeStruct);
- mVelocityMultiplier = Dimensionless{xmlRpcValueToTypeOrDefault(brushedMotorData, "velocity_multiplier", 1.0)};
- if (mVelocityMultiplier.get() == 0) {
- throw std::runtime_error("Velocity multiplier can't be 0!");
- }
-
mConfigCommand.gear_ratio = xmlRpcValueToTypeOrDefault(brushedMotorData, "gear_ratio");
for (std::size_t i = 0; i < 4; ++i) {
@@ -26,12 +21,12 @@ namespace mrover {
mConfigCommand.limit_switch_info.limit_readj_pos.at(i) = Radians{static_cast(brushedMotorData[std::format("limit_{}_readjust_position", i)])};
}
+ mConfigCommand.is_inverted = xmlRpcValueToTypeOrDefault(brushedMotorData, "is_inverted", false);
+
mConfigCommand.enc_info.quad_present = xmlRpcValueToTypeOrDefault(brushedMotorData, "quad_present", false);
- mConfigCommand.enc_info.quad_is_forward_polarity = xmlRpcValueToTypeOrDefault(brushedMotorData, "quad_is_fwd_polarity", false);
mConfigCommand.enc_info.quad_ratio = xmlRpcValueToTypeOrDefault(brushedMotorData, "quad_ratio", 1.0);
mConfigCommand.enc_info.abs_present = xmlRpcValueToTypeOrDefault(brushedMotorData, "abs_present", false);
- mConfigCommand.enc_info.abs_is_forward_polarity = xmlRpcValueToTypeOrDefault(brushedMotorData, "abs_is_fwd_polarity", false);
mConfigCommand.enc_info.abs_ratio = xmlRpcValueToTypeOrDefault(brushedMotorData, "abs_ratio", 1.0);
mConfigCommand.enc_info.abs_offset = Radians{xmlRpcValueToTypeOrDefault(brushedMotorData, "abs_offset", 0.0)};
@@ -62,7 +57,7 @@ namespace mrover {
mVelocityGains.ff = xmlRpcValueToTypeOrDefault(brushedMotorData, "velocity_ff", 0.0);
for (int i = 0; i < 4; ++i) {
- mhasLimit |= xmlRpcValueToTypeOrDefault(brushedMotorData, std::format("limit_{}_enabled", i), false);
+ mHasLimit |= xmlRpcValueToTypeOrDefault(brushedMotorData, std::format("limit_{}_enabled", i), false);
}
mCalibrationThrottle = Percent{xmlRpcValueToTypeOrDefault(brushedMotorData, "calibration_throttle", 0.0)};
mErrorState = "Unknown";
@@ -104,8 +99,6 @@ namespace mrover {
assert(velocity >= mConfigCommand.min_velocity && velocity <= mConfigCommand.max_velocity);
- velocity = velocity * mVelocityMultiplier;
-
mDevice.publish_message(InBoundMessage{VelocityCommand{
.velocity = velocity,
.p = static_cast(mVelocityGains.p),
@@ -134,7 +127,7 @@ namespace mrover {
auto BrushedController::processMessage(ControllerDataState const& state) -> void {
mCurrentPosition = state.position;
- mCurrentVelocity = state.velocity / mVelocityMultiplier;
+ mCurrentVelocity = state.velocity;
ConfigCalibErrorInfo configCalibErrInfo = state.config_calib_error_data;
mIsConfigured = configCalibErrInfo.configured;
mIsCalibrated = configCalibErrInfo.calibrated;
@@ -152,7 +145,7 @@ namespace mrover {
auto BrushedController::processCANMessage(CAN::ConstPtr const& msg) -> void {
assert(msg->source == mControllerName);
- assert(msg->destination == mName);
+ assert(msg->destination == mMasterName);
OutBoundMessage const& message = *reinterpret_cast(msg->data.data());
@@ -184,14 +177,14 @@ namespace mrover {
}
auto BrushedController::calibrateServiceCallback([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) -> bool {
- if (!mhasLimit) {
+ if (!mHasLimit) {
res.success = false;
- res.message = mControllerName + " does not have limit switches, cannot calibrate";
+ res.message = std::format("{} does not have limit switches, cannot calibrate", mControllerName);
return true;
}
if (mIsCalibrated) {
res.success = false;
- res.message = mControllerName + " already calibrated";
+ res.message = std::format("{} already calibrated", mControllerName);
return true;
}
// sends throttle command until a limit switch is hit
diff --git a/src/esw/motor_library/brushed.hpp b/src/esw/motor_library/brushed.hpp
index 9b1339ed3..a7dd59629 100644
--- a/src/esw/motor_library/brushed.hpp
+++ b/src/esw/motor_library/brushed.hpp
@@ -15,32 +15,35 @@ namespace mrover {
double p{}, i{}, d{}, ff{};
};
- class BrushedController : public Controller {
+ // For now only revolute joints are supported => hardcode to Radians
+ class BrushedController final : public ControllerBase {
public:
- void setDesiredThrottle(Percent throttle) override; // from -1.0 to 1.0
- void setDesiredVelocity(RadiansPerSecond velocity) override;
- void setDesiredPosition(Radians position) override;
- void adjust(Radians position) override;
+ BrushedController(ros::NodeHandle const& nh, std::string masterName, std::string controllerName);
- void processCANMessage(CAN::ConstPtr const& msg) override;
+ auto setDesiredThrottle(Percent throttle) -> void; // from -1.0 to 1.0
- void processMessage(ControllerDataState const& state);
+ auto setDesiredPosition(Radians position) -> void;
- void processMessage(DebugState const&) {}
+ auto setDesiredVelocity(RadiansPerSecond velocity) -> void;
- void sendConfiguration();
+ auto adjust(Radians position) -> void;
- double getEffort() override;
+ auto processCANMessage(CAN::ConstPtr const& msg) -> void;
- BrushedController(ros::NodeHandle const& nh, std::string name, std::string controllerName);
- ~BrushedController() override = default;
+ auto processMessage(ControllerDataState const& state) -> void;
- bool calibrateServiceCallback(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+ auto processMessage(DebugState const&) -> void {}
+
+ auto sendConfiguration() -> void;
+
+ auto getEffort() -> double;
+
+ auto calibrateServiceCallback(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) -> bool;
private:
- static std::string errorToString(BDCMCErrorInfo errorCode);
+ static auto errorToString(BDCMCErrorInfo errorCode) -> std::string;
- bool mIsConfigured = false;
+ bool mIsConfigured{false};
ConfigCommand mConfigCommand;
Gains mPositionGains;
diff --git a/src/esw/motor_library/brushless.cpp b/src/esw/motor_library/brushless.cpp
deleted file mode 100644
index 070e250c7..000000000
--- a/src/esw/motor_library/brushless.cpp
+++ /dev/null
@@ -1,302 +0,0 @@
-#include "brushless.hpp"
-#include "moteus/moteus_protocol.h"
-#include
-#include
-
-namespace mrover {
-
- BrushlessController::BrushlessController(ros::NodeHandle const& nh, std::string name, std::string controllerName)
- : Controller{nh, std::move(name), std::move(controllerName)} {
-
- XmlRpc::XmlRpcValue brushlessMotorData;
- assert(mNh.hasParam(std::format("brushless_motors/controllers/{}", mControllerName)));
- mNh.getParam(std::format("brushless_motors/controllers/{}", mControllerName), brushlessMotorData);
- assert(brushlessMotorData.getType() == XmlRpc::XmlRpcValue::TypeStruct);
-
- mVelocityMultiplier = Dimensionless{xmlRpcValueToTypeOrDefault(brushlessMotorData, "velocity_multiplier", 1.0)};
- if (mVelocityMultiplier.get() == 0) {
- throw std::runtime_error("Velocity multiplier can't be 0!");
- }
-
- mMinVelocity = RadiansPerSecond{xmlRpcValueToTypeOrDefault(brushlessMotorData, "min_velocity", -0.01)};
- mMaxVelocity = RadiansPerSecond{xmlRpcValueToTypeOrDefault(brushlessMotorData, "max_velocity", 0.01)};
-
- mMinPosition = Radians{xmlRpcValueToTypeOrDefault(brushlessMotorData, "min_position", -1.0)};
- mMaxPosition = Radians{xmlRpcValueToTypeOrDefault(brushlessMotorData, "max_position", 1.0)};
-
- mMaxTorque = xmlRpcValueToTypeOrDefault(brushlessMotorData, "max_torque", 0.3);
- mWatchdogTimeout = xmlRpcValueToTypeOrDefault(brushlessMotorData, "watchdog_timeout", 0.1);
-
- limitSwitch0Present = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_present", false);
- limitSwitch1Present = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_present", false);
- limitSwitch0Enabled = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_enabled", true);
- limitSwitch1Enabled = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_enabled", true);
- limitSwitch0LimitsFwd = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_limits_fwd", false);
- limitSwitch1LimitsFwd = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_limits_fwd", false);
- limitSwitch0ActiveHigh = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_is_active_high", true);
- limitSwitch1ActiveHigh = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_is_active_high", true);
- limitSwitch0UsedForReadjustment = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_used_for_readjustment", false);
- limitSwitch1UsedForReadjustment = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_used_for_readjustment", false);
- limitSwitch0ReadjustPosition = Radians{xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_readjust_position", 0.0)};
- limitSwitch1ReadjustPosition = Radians{xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_readjust_position", 0.0)};
-
- }
-
- auto BrushlessController::setDesiredThrottle(Percent throttle) -> void {
- setDesiredVelocity(mapThrottleToVelocity(throttle));
- }
-
- auto BrushlessController::setDesiredPosition(Radians position) -> void {
- // only check for limit switches if at least one limit switch exists and is enabled
- if ((limitSwitch0Enabled && limitSwitch0Present) || (limitSwitch1Enabled && limitSwitch0Present)) {
- sendQuery();
-
- MoteusLimitSwitchInfo limitSwitchInfo = getPressedLimitSwitchInfo();
- if ((mCurrentPosition < position && limitSwitchInfo.isFwdPressed) || (mCurrentPosition > position && limitSwitchInfo.isBwdPressed)) {
- setBrake();
- return;
- }
- }
-
- Revolutions position_revs = std::clamp(position, mMinPosition, mMaxPosition);
- moteus::PositionMode::Command command{
- .position = position_revs.get(),
- .velocity = 0.0,
- .maximum_torque = mMaxTorque,
- .watchdog_timeout = mWatchdogTimeout,
- };
- moteus::CanFdFrame positionFrame = mController.MakePosition(command);
- mDevice.publish_moteus_frame(positionFrame);
- }
-
- // Position Velocity
- // Nan 2.0 = spin at 2 rev/s
- // 1.0 0.0 = Stay put at 1 rev round
- // Nan 0.0 = Don't move
-
- auto BrushlessController::setDesiredVelocity(RadiansPerSecond velocity) -> void {
- // only check for limit switches if at least one limit switch exists and is enabled
- if ((limitSwitch0Enabled && limitSwitch0Present) || (limitSwitch1Enabled && limitSwitch0Present)) {
- sendQuery();
-
- MoteusLimitSwitchInfo limitSwitchInfo = getPressedLimitSwitchInfo();
- if ((velocity > Radians{0} && limitSwitchInfo.isFwdPressed) || (velocity < Radians{0} && limitSwitchInfo.isBwdPressed)) {
- setBrake();
- return;
- }
- }
-
-
- velocity = velocity * mVelocityMultiplier;
-
- RevolutionsPerSecond velocity_rev_s = std::clamp(velocity, mMinVelocity, mMaxVelocity);
- if (abs(velocity_rev_s).get() < 1e-5) {
- setBrake();
- } else {
- moteus::PositionMode::Command command{
- .position = std::numeric_limits::quiet_NaN(),
- .velocity = velocity_rev_s.get(),
- .maximum_torque = mMaxTorque,
- .watchdog_timeout = mWatchdogTimeout,
- };
-
- moteus::CanFdFrame positionFrame = mController.MakePosition(command);
- mDevice.publish_moteus_frame(positionFrame);
- }
- }
-
- auto BrushlessController::setStop() -> void {
- moteus::CanFdFrame setStopFrame = mController.MakeStop();
- mDevice.publish_moteus_frame(setStopFrame);
- }
-
- auto BrushlessController::setBrake() -> void {
- moteus::CanFdFrame setBrakeFrame = mController.MakeBrake();
- mDevice.publish_moteus_frame(setBrakeFrame);
- }
-
- auto BrushlessController::getPressedLimitSwitchInfo() -> MoteusLimitSwitchInfo {
- /*
- Testing 2/9:
- - Connected limit switch (common is input(black), NC to ground)
- - Configured moteus to have all pins set as digital_input and pull_up
- - When limit switch not pressed, aux2 = 0xD
- - When limit switch pressed, aux1 = 0xF
- - Note: has to be active high, so in this scenario we have to flip this bit round.
- - This was connected to just one moteus board, not the one with a motor on it.
-
- Stuff for Limit Switches (from Guthrie)
- - Read from config about limit switch settings
- - Either 1 or 0 not forward/backward
-
- - Add a member variable in Brushless.hpp to store limit switch value. Update this limit
- switch variable every round in ProcessCANMessage.
- */
- // TODO - implement this
- MoteusLimitSwitchInfo result{};
-
- result.isFwdPressed = false;
- result.isBwdPressed = false;
-
- // TODO do both switch0 and switch1 use aux2?
- if (limitSwitch0Present && limitSwitch0Enabled) {
- int bitMask = 2; // 0b0010
- bool gpioState = bitMask & moteusAux1Info;
- mLimitHit.at(0) = gpioState == limitSwitch0ActiveHigh;
- }
- if (limitSwitch1Present && limitSwitch1Enabled) {
- int bitMask = 2; // 0b0010
- bool gpioState = bitMask & moteusAux2Info;
- mLimitHit.at(1) = gpioState == limitSwitch1ActiveHigh;
- }
-
- result.isFwdPressed = (mLimitHit.at(0) && limitSwitch0LimitsFwd) || (mLimitHit.at(1) && limitSwitch1LimitsFwd);
- result.isBwdPressed = (mLimitHit.at(0) && !limitSwitch0LimitsFwd) || (mLimitHit.at(1) && !limitSwitch1LimitsFwd);
-
- if (result.isFwdPressed) {
- adjust(limitSwitch0ReadjustPosition);
- }
- else if (result.isBwdPressed) {
- adjust(limitSwitch1ReadjustPosition);
- }
-
- return result;
- }
-
- auto BrushlessController::adjust(Radians commandedPosition) -> void {
- Revolutions commandedPosition_rev = std::clamp(commandedPosition, mMinPosition, mMaxPosition);
- moteus::OutputExact::Command command{
- .position = commandedPosition_rev.get(),
- };
- moteus::OutputExact::Command outputExactCmd{command};
- moteus::CanFdFrame setPositionFrame = mController.MakeOutputExact(outputExactCmd);
- mDevice.publish_moteus_frame(setPositionFrame);
- }
-
- auto BrushlessController::sendQuery() -> void {
- moteus::Query::Format qFormat{};
- qFormat.aux1_gpio = moteus::kInt8;
- qFormat.aux2_gpio = moteus::kInt8;
- moteus::CanFdFrame queryFrame = mController.MakeQuery(&qFormat);
- mDevice.publish_moteus_frame(queryFrame);
- }
-
- auto BrushlessController::processCANMessage(CAN::ConstPtr const& msg) -> void {
- assert(msg->source == mControllerName);
- assert(msg->destination == mName);
- auto result = moteus::Query::Parse(msg->data.data(), msg->data.size());
- // ROS_INFO("controller: %s %3d p/a/v/t=(%7.3f,%7.3f,%7.3f,%7.3f) v/t/f=(%5.1f,%5.1f,%3d) GPIO: Aux1-%X , Aux2-%X",
- // mControllerName.c_str(),
- // result.mode,
- // result.position,
- // result.abs_position,
- // result.velocity,
- // result.torque,
- // result.voltage,
- // result.temperature,
- // result.fault,
- // result.aux1_gpio,
- // result.aux2_gpio
- // );
-
- mCurrentPosition = mrover::Revolutions{result.position}; // moteus stores position in revolutions.
- mCurrentVelocity = mrover::RevolutionsPerSecond{result.velocity} / mVelocityMultiplier; // moteus stores position in revolutions.
-
- mErrorState = moteusErrorCodeToErrorState(result.mode, static_cast(result.fault));
- mState = moteusModeToState(result.mode);
-
- moteusAux1Info = (result.aux1_gpio) ? result.aux1_gpio : moteusAux1Info;
- moteusAux2Info = (result.aux1_gpio) ? result.aux2_gpio : moteusAux2Info;
-
- if (result.mode == moteus::Mode::kPositionTimeout || result.mode == moteus::Mode::kFault) {
- setStop();
- ROS_WARN("Position timeout hit");
- }
- }
-
- auto BrushlessController::getEffort() -> double {
- // TODO - need to properly set mMeasuredEFfort elsewhere.
- // (Art Boyarov): return quiet_Nan, same as Brushed Controller
- return std::numeric_limits::quiet_NaN();
- }
-
- auto BrushlessController::mapThrottleToVelocity(Percent throttle) const -> RadiansPerSecond {
- std::clamp(throttle, -1_percent, 1_percent);
-
- // Map the throttle to the velocity range
- return RadiansPerSecond{(throttle.get() + 1.0f) / 2.0f * (mMaxVelocity.get() - mMinVelocity.get()) + mMinVelocity.get()};
- }
-
- auto BrushlessController::moteusErrorCodeToErrorState(moteus::Mode motor_mode, ErrorCode motor_error_code) -> std::string {
- if (motor_mode != moteus::Mode::kFault) return "No Error";
- switch (motor_error_code) {
- case ErrorCode::DmaStreamTransferError:
- return "DMA Stream Transfer Error";
- case ErrorCode::DmaStreamFifiError:
- return "DMA Stream FIFO Error";
- case ErrorCode::UartOverrunError:
- return "UART Overrun Error";
- case ErrorCode::UartFramingError:
- return "UART Framing Error";
- case ErrorCode::UartNoiseError:
- return "UART Noise Error";
- case ErrorCode::UartBufferOverrunError:
- return "UART Buffer Overrun Error";
- case ErrorCode::UartParityError:
- return "UART Parity Error";
- case ErrorCode::CalibrationFault:
- return "Calibration Fault";
- case ErrorCode::MotorDriverFault:
- return "Motor Driver Fault";
- case ErrorCode::OverVoltage:
- return "Over Voltage";
- case ErrorCode::EncoderFault:
- return "Encoder Fault";
- case ErrorCode::MotorNotConfigured:
- return "Motor Not Configured";
- case ErrorCode::PwmCycleOverrun:
- return "PWM Cycle Overrun";
- case ErrorCode::OverTemperature:
- return "Over Temperature";
- case ErrorCode::StartOutsideLimit:
- return "Start Outside Limit";
- case ErrorCode::UnderVoltage:
- return "Under Voltage";
- case ErrorCode::ConfigChanged:
- return "Configuration Changed";
- case ErrorCode::ThetaInvalid:
- return "Theta Invalid";
- case ErrorCode::PositionInvalid:
- return "Position Invalid";
- default:
- return "Unknown Error";
- }
- }
-
- auto BrushlessController::moteusModeToState(moteus::Mode motor_mode) -> std::string {
- switch (motor_mode) {
- case moteus::Mode::kStopped:
- return "Motor Stopped";
- case moteus::Mode::kFault:
- return "Motor Fault";
- case moteus::Mode::kPwm:
- return "PWM Operating Mode";
- case moteus::Mode::kVoltage:
- return "Voltage Operating Mode";
- case moteus::Mode::kVoltageFoc:
- return "Voltage FOC Operating Mode";
- case moteus::Mode::kVoltageDq:
- return "Voltage DQ Operating Mode";
- case moteus::Mode::kCurrent:
- return "Current Operating Mode";
- case moteus::Mode::kPosition:
- return "Position Operating Mode";
- case moteus::Mode::kPositionTimeout:
- return "Position Timeout";
- case moteus::Mode::kZeroVelocity:
- return "Zero Velocity";
- default:
- return "Unknown Mode";
- }
- }
-} // namespace mrover
diff --git a/src/esw/motor_library/brushless.hpp b/src/esw/motor_library/brushless.hpp
index eeb036084..fc1437697 100644
--- a/src/esw/motor_library/brushless.hpp
+++ b/src/esw/motor_library/brushless.hpp
@@ -1,16 +1,10 @@
#pragma once
-#include "params_utils.hpp"
-#include
-#include
-#include
-
-// TODO(quintin) this is not defined in my system can header for some reason, but moteus needs it? Is this the correct value?
-#define CANFD_FDF 0x04
#include
#include
#include
+#include
namespace mrover {
@@ -58,55 +52,369 @@ namespace mrover {
};
struct MoteusLimitSwitchInfo {
- bool isFwdPressed;
- bool isBwdPressed;
+ bool isFwdPressed{};
+ bool isBwdPressed{};
};
- class BrushlessController : public Controller {
+ template
+ class BrushlessController final : public ControllerBase> {
+ using Base = ControllerBase;
+
+ // TODO(quintin): this is actually so dumb
+ using OutputPosition = typename Base::OutputPosition;
+ using OutputVelocity = typename Base::OutputVelocity;
+
+ using Base::mControllerName;
+ using Base::mCurrentPosition;
+ using Base::mCurrentVelocity;
+ using Base::mDevice;
+ using Base::mErrorState;
+ using Base::mLimitHit;
+ using Base::mMasterName;
+ using Base::mNh;
+ using Base::mState;
+
public:
- BrushlessController(ros::NodeHandle const& nh, std::string name, std::string controllerName);
- ~BrushlessController() override = default;
-
- void setDesiredThrottle(Percent throttle) override;
- void setDesiredVelocity(RadiansPerSecond velocity) override;
- void setDesiredPosition(Radians position) override;
- void processCANMessage(CAN::ConstPtr const& msg) override;
- auto getEffort() -> double override;
- void setStop();
- void setBrake();
- auto getPressedLimitSwitchInfo() -> MoteusLimitSwitchInfo;
- void adjust(Radians position) override;
- void sendQuery();
+ BrushlessController(ros::NodeHandle const& nh, std::string masterName, std::string controllerName)
+ : Base{nh, std::move(masterName), std::move(controllerName)} {
+
+ XmlRpc::XmlRpcValue brushlessMotorData;
+ assert(mNh.hasParam(std::format("brushless_motors/controllers/{}", mControllerName)));
+ mNh.getParam(std::format("brushless_motors/controllers/{}", mControllerName), brushlessMotorData);
+ assert(brushlessMotorData.getType() == XmlRpc::XmlRpcValue::TypeStruct);
+
+ mMinVelocity = OutputVelocity{xmlRpcValueToTypeOrDefault(brushlessMotorData, "min_velocity", -1.0)};
+ mMaxVelocity = OutputVelocity{xmlRpcValueToTypeOrDefault(brushlessMotorData, "max_velocity", 1.0)};
+
+ mMinPosition = OutputPosition{xmlRpcValueToTypeOrDefault(brushlessMotorData, "min_position", -1.0)};
+ mMaxPosition = OutputPosition{xmlRpcValueToTypeOrDefault(brushlessMotorData, "max_position", 1.0)};
+
+ mMaxTorque = xmlRpcValueToTypeOrDefault(brushlessMotorData, "max_torque", 0.3);
+ mWatchdogTimeout = xmlRpcValueToTypeOrDefault(brushlessMotorData, "watchdog_timeout", 0.1);
+
+ limitSwitch0Present = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_present", false);
+ limitSwitch1Present = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_present", false);
+ limitSwitch0Enabled = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_enabled", true);
+ limitSwitch1Enabled = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_enabled", true);
+
+ limitSwitch0LimitsFwd = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_limits_fwd", false);
+ limitSwitch1LimitsFwd = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_1_limits_fwd", false);
+ limitSwitch0ActiveHigh = xmlRpcValueToTypeOrDefault(brushlessMotorData, "limit_0_is_active_high", true);
+ limitSwitch1ActiveHigh = xmlRpcValueToTypeOrDefault