Code

Embedded code 😳 #690

Code

Merged

qhdwight merged 191 commits intointegrationumrover/mrover-ros:integrationfrom embeddedumrover/mrover-ros:embeddedCopy head branch name to clipboardApr 18, 2024

+1,416-4,305

Commits

Commits on Nov 15, 2023

• Updated

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• Merge branch 'embedded' into science-kevin-tony

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Commits on Dec 6, 2023

• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

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Commits on Jan 19, 2024

• x

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Commits on Jan 24, 2024

• SomethingMerge branch 'embedded' of github.com:umrover/mrover-ros into embedded

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Commits on Jan 31, 2024

• SMerge branch 'embedded' of github.com:umrover/mrover-ros into embedded

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Commits on Feb 2, 2024

• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

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Commits on Feb 7, 2024

• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

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Commits on Feb 12, 2024

• brushless testing

  umroverPerception

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• set linear to rotation ratio to 1

  umroverPerception

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• Comment out ADC updates, make it flash white LED on startup, and fix blue LED bug

  tabiosg

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• working de tests

  umroverPerception

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  umroverPerception

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• Update esw.yaml for motors group information mutlipliers - these values need to be used TODO

  tabiosg

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• Add multipliers to config

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Commits on Feb 13, 2024

• Remove default task

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• Change heater watchdog from 3 to 1 second

  tabiosg

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• Add heater science test bridge

  tabiosg

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• No idea if dirt sensor node works

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Commits on Feb 14, 2024

• ???idk ask isabel

  umroverPerception

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• Changed the brushless test bridge to run seperate functions; Guthrie made changes to science code

  artyom-boyarov

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

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• Science

  tabiosg

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• Merge branch 'embedded' of https://github.com/umrover/mrover-ros into embedded

  tabiosg

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Commits on Feb 15, 2024

• Change science firmware

  tabiosg

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• Merge branch 'embedded' of https://github.com/umrover/mrover-ros into embedded

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• Change bridge

  umroverPerception

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Commits on Feb 16, 2024

• fix can parameters

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Commits on Feb 18, 2024

• Calibrate thermistor to 24.7C

  wilsonchen02

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• WIP testing spectral code

  Polishdudealan

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  Polishdudealan

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• Work in progress heater and thermistor code. Update and simplify spectral code.

  Polishdudealan

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Commits on Feb 22, 2024

• Change ioc to sample for higher accuracy and remove magic number!

  tabiosg

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• Change heater and test

  umroverPerception

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• enable auto shutoff

  tabiosg

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Commits on Feb 23, 2024

• Update spectral code. Add virtual read/write functions. Not tested yet.

  Polishdudealan

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  Polishdudealan

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Commits on Mar 5, 2024

• Increase PDLB ADC sampling cycle

  tabiosg

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Commits on Mar 6, 2024

• Fix CAN filters

  owenpark8

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Commits on Mar 8, 2024

• Fix poll_status_reg status check

  wilsonchen02

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Commits on Mar 10, 2024

• Change spectral initialize code and re-enable PDB adc sensor update code

  tabiosg

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• Remove unnecessary return

  tabiosg

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Commits on Mar 12, 2024

• Fix CAN filters to correctly check source in identifier

  owenpark8

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• Commit merge

  tabiosg

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• Make changes

  tabiosg

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• add filter to science and pdlb ioc

  wisabel0

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Commits on Mar 13, 2024

• Update science code and re-enable all tasks

  tabiosg

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  YnotCode

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• adjustDE code

  kushagragoenka123

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Commits on Mar 14, 2024

• Allow ADC and current sensors to work for the PDLB!

  tabiosg

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• Add code for thermistor code

  tabiosg

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• Make assumption that it is 47k ohm resistor

  tabiosg

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  YnotCode

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• Arm translator bridge builds

  umroverPerception

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• Added custom error handling and changed reboot_spectral to reboot_i2c

  YnotCode

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  YnotCode

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• Fixed build errors

  YnotCode

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Commits on Mar 15, 2024

• Changed compiler setting to allow exceptions

  YnotCode

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• Refactor code to use optionals

  Polishdudealan

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• Fix merge conflicts

  Polishdudealan

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• Small fix in spectral code

  Polishdudealan

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• fix issues in arm translator bridge - builds

  umroverPerception

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  umroverPerception

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  Polishdudealan

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Commits on Mar 17, 2024

• Remove spectral.c

  tabiosg

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Commits on Mar 18, 2024

• Allow project to build

  tabiosg

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• Remove duplicate

  umroverPerception

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• Update test bridge to include all MOSFET devices

  umroverPerception

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• add adjust message for joint DE

  wisabel0

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Commits on Mar 19, 2024

• Remove spectral task

  tabiosg

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• Use eigen

  qhdwight

  committed
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• joint-de

  qhdwight

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• Removed exception handling

  YnotCode

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Commits on Mar 20, 2024

• Boingus

  qhdwight

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• COMPILE

  qhdwight

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• Remove lanuching nodelet manager

  qhdwight

  committed
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• Merge remote-tracking branch 'origin/joint-de' into embedded

  qhdwight

  committed
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• Cleanup

  qhdwight

  committed
  9e7f4b0

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Commits on Mar 22, 2024

• Refactor sa_translator_bridge code

  artyom-boyarov

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• Refactored sa_translator_bridge to make it simular to arm_translator_bridge

  artyom-boyarov

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• Added linear_joint_translation

  artyom-boyarov

  committed
  436a8d6

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• Tested Spectral code on all 3 sites. Change TReceive to 1 byte. Reinstate some HAL i2c functions.

  Polishdudealan

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Commits on Mar 23, 2024

• polling correct spectral register now

  wisabel0

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• oopsies :3 i broke all code! spectral ROS messages changed - still need to change teleop end and firmware

  tabiosg

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• Fix spectral data

  tabiosg

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Commits on Mar 24, 2024

• Make firmware build

  tabiosg

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• Fix spectral make it read calibrated messages uwu :3

  tabiosg

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• Update error statement too

  tabiosg

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  13d3796

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• Correct number of channels published

  tabiosg

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  1066b83

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• implemented abs encoder through moteus register protocol

  edurso

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• new joint_c velocity and position limits

  umroverPerception

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• Change to floats properly

  tabiosg

  committed
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• Merge branch 'embedded' of https://github.com/umrover/mrover-ros into embedded

  tabiosg

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Commits on Mar 26, 2024

• I have fixed the spectral code

  tabiosg

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• Remove some comments and fix bug when trying to access value of nullopt

  tabiosg

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• add absolute encoder velocity for joint de

  edurso

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• Make code a bit more readable

  tabiosg

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Commits on Mar 27, 2024

• Fix bug that prevented code from escaping infinite loop of not being in error state

  tabiosg

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• one line change to change heater shutoff temp to 50celsius from 65

  tabiosg

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• Merge branch 'embedded' of https://github.com/umrover/mrover-ros into embedded

  tabiosg

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• Merge remote-tracking branch 'origin/integration' into embedded

  umroverPerception

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• Merge remote-tracking branch 'origin/embedded' into embedded

  umroverPerception

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• Delete delete

  umroverPerception

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• Remove old

  umroverPerception

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• Merge

  umroverPerception

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• Revert xacro

  umroverPerception

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  d9b46b9

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• Fix compile error???

  umroverPerception

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• Fr this time

  qhdwight

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• Testing changes

  umroverPerception

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Commits on Mar 28, 2024

• Merge remote-tracking branch 'origin/integration' into embedded

  umroverPerception

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• Fix compile error

  umroverPerception

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Commits on Mar 29, 2024

• de testing

  umroverPerception

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• lower joint a velocity

  umroverPerception

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  b0d5140

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• Thermistor Auto Shutoff is now configurable (#672)

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  tabiosg

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  wilsonchen02

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Commits on Apr 5, 2024

• update brushless limit switch logic for aux2

  wisabel0

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Commits on Apr 7, 2024

• Yay comment

  tabiosg

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• Merge remote-tracking branch 'origin/integration' into embedded

  umroverPerception

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• Merge remote-tracking branch 'origin/embedded' into embedded

  umroverPerception

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• joint A can do low precision position from tview

  umroverPerception

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Commits on Apr 8, 2024

• UNTESTED - joint c config changes

  tabiosg

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• Disable joint b reconfig

  umroverPerception

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  812463d

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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  umroverPerception

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• Avoid conversion sometimes

  tabiosg

  committed
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• Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

  tabiosg

  committed
  c1add64

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• Remove hard code for joint A

  tabiosg

  committed
  2c023d7

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• Add joint a max torque in esw.yaml

  tabiosg

  committed
  af06f4d

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• Fix joint b limit switch settings

  umroverPerception

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Commits on Apr 9, 2024

• Add defaults for limit switches to make it easier to test when moteus is not pressed

  tabiosg

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• Update project to enable pull up limit switches

  tabiosg

  committed
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• Merge branch 'integration' into embedded

  tabiosg

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  dd1e6b6

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• Change min and max position for joint c

  tabiosg

  committed
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• Make mAvoidConversionToRevolutions usable by brushed too instead of brushless only

  tabiosg

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• Merge remote-tracking branch 'origin/integration' into embedded

  qhdwight

  committed
  4ce91af

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• Update dawn pointer

  qhdwight

  committed
  e50a995

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• Make compile on mac lol, not working tho

  qhdwight

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  51b6ec7

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• Constexpr string view instead of string

  qhdwight

  committed
  c3b0a8e

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• update DE to assume motei are aware of gearing

  wisabel0

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Commits on Apr 10, 2024

• Up p, set max velocity

  umroverPerception

  committed
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• New arch for controllers

  qhdwight

  committed
  6a30821

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• Merge remote-tracking branch 'origin/embedded' into embedded

  qhdwight

  committed
  24640d4

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• Add better joint c config

  umroverPerception

  committed
  4ff1633

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• Clean up config

  umroverPerception

  committed
  041e63f

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• Remove is linear

  qhdwight

  committed
  87404f5

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• Fix typo in de

  qhdwight

  committed
  d187071

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• Wizardry

  qhdwight

  committed
  0b4324b

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• Oops

  qhdwight

  committed
  bce1da6

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• Adjust joint C esw.yaml

  umroverPerception

  committed
  644d9f8

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• Adjust joint A min and max vel

  umroverPerception

  committed
  11dff5f

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• Always send aux

  qhdwight

  committed
  38ae540

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• Convert pos/vel correctly, fix bug in units library

  umroverPerception

  committed
  7b4a4cf

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• Commit joint A config with larger D to help with velocity ctrl

  umroverPerception

  committed
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Commits on Apr 11, 2024

• Joint de 1 working, switching to de 0

  umroverPerception

  committed
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• Update config

  qhdwight

  committed
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Commits on Apr 12, 2024

• Fix some units lib issues

  qhdwight

  committed
  b9e78ad

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• Update

  qhdwight

  committed
  0225aec

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• Move offsets for joint DE to firmware

  

  MRover Laptop

  committed
  e4b2cbc

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• Add updated de 0 and 1 abs stuff, remove offsets in ros, fix annoying bug in teleop

  qhdwight

  committed
  7983488

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• WORKING POS!

  qhdwight

  committed
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• Fix xbox controllers for new basestation laptop on chromium

  

  MRover Laptop

  committed
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Commits on Apr 13, 2024

• Publish to torque as brushless and change DE0/1 torques

  

  MRover Laptop

  committed
  6d4e07c

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• fix allen key voltage

  wisabel0

  committed
  094af8b

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• invert sign

  

  MRover Laptop

  committed
  0848e9b

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• Make DE follow IK conventions

  

  MRover Laptop

  committed
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• OK joint de 1 coudl be better

  

  MRover Laptop

  committed
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• Update torque for joint DE and PID constants

  

  MRover Laptop

  committed
  25f3c56

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• only publish/subscribe to de_pitch/roll joint data

  wisabel0

  committed
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• Merge remote-tracking branch 'refs/remotes/origin/embedded' into embedded

  wisabel0

  committed
  4abb2af

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• Revert "only publish/subscribe to de_pitch/roll joint data"

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  MRover Laptop

  committed
  f9abce9

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• New translator code

  qhdwight

  committed
  76f7b3d

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• Add extra checks

  qhdwight

  committed
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Commits on Apr 14, 2024

• Add joint state publisher

  qhdwight

  committed
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• Correct IK convention for DE01

  

  MRover Laptop

  committed
  a8c1fb4

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• Correct settings for chromium

  umroverPerception

  committed
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• Flip joint a sign

  umroverPerception

  committed
  d3f9d14

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• Allow joint B to work

  umroverPerception

  committed
  348304d

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• Merge remote-tracking branch 'refs/remotes/origin/embedded' into embedded

  umroverPerception

  committed
  e9f6919

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Commits on Apr 16, 2024

• Add inverted setting to config, this will break all CAN comms, so make sure to reflash

  qhdwight

  committed
  01b40b5

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• Merge remote-tracking branch 'origin/integration' into embedded

  qhdwight

  committed
  f3dc871

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• Remove velocity multiplier now that inverted is added

  umroverPerception

  committed
  b784e9b

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• Remove SA Translator

  umroverPerception

  committed
  e5c1d56

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• Teleop

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  committed
  05bb653

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• Make jetson_science

  umroverPerception

  committed
  e913a3d

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• Make jetson science run

  umroverPerception

  committed
  3f79af5

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• Change SA limit switches

  umroverPerception

  committed
  ec00766

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• Push sa_z.cfg

  umroverPerception

  committed
  cca92fa

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Commits on Apr 17, 2024

• Update moteus for sa_z

  umroverPerception

  committed
  ef93aa1

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• Update torque for sa_z to 30

  umroverPerception

  committed
  ddb390a

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• Testing

  umroverPerception

  committed
  2ee20a4

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• Changes from testing

  qhdwight

  committed
  e954326

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Commits on Apr 18, 2024

• Merge remote-tracking branch 'origin/integration' into embedded

  qhdwight

  committed
  62e1233

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