Auger Node

[hdjwis]

We need to create a new Auger Node for our new digging system.

1. Single actuator for tipping the auger tube down. Should not need any feedback on it's position, just need to be able to extend and retract fully.
2. Single actuator for pushing auger into the ground. We should be able to track its position to make it move at a constant speed regardless of load
3. A motor that spins the auger spring at a constant speed (does not need to be monitored). This will likely be one of the orange turnigy motors. And may or may not need current monitoring

[hdjwis]

• we cannot allow the pushing actuator to extend unless the tipping actuator is fully extended (retraction should be allowed)
• Tipping acutator should not move if pushing actuator is extended

[hdjwis]

-For pushing auger into the ground we are going to use a motor instead of linear acutator, needs to move at a constant speed of 600 rpm, we can retract at a higher rpm
-Motor that spins the auger spring needs to run at 4000 rpm

[Michael-Foley]

Some notes from the general meeting on Jan 22.

• The robot can move if the auger is tilted as long as the screw is not in the dirt.
• Potentially the auger could continue spinning in between digging holes so that it is faster to rev
• The auger cannot be tilted when the bucket is dumping

[BergerKing333]

add functions / actions extend_digger and retract_digger
These functions will handle both the tilt and the push functions so that we don't need to track which one we want elsewhere

We will also ideally be able to pass an extend distance AND an extend speed in each call
we want a max current on the extender too but this will be a static value, where if we exceed it, we assume that we are pushing into something too hard to dig through