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Motor output from MBED #583
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Created motor_control message type for motor output Updated motor_controller to extract and publish motor output
oswinso
added
type ➤ new feature
This was referenced Nov 6, 2019
Merged
Dallas-D
reviewed
Jan 8, 2020
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Dallas-D
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Dallas-D
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I had some questions about some of your changes
| motor_control.left = static_cast<uint8_t>(response.left_output); | ||
| motor_control.right = static_cast<uint8_t>(response.right_output); | ||
| motor_control.duration = ros::Duration(response.dt_sec); | ||
| motor_control.header.stamp = ros::Time::now() - motor_control.duration; |
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I'm not sure why you subtracted duration from the current time. What do you want the header time to represent?
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Description
We currently have no idea what values our MBED is sending to the motors, which is kind of scary, and hard to debug controls problems.
This PR does the following:
igvc_msgs::motor_controlmessage type for modelling the MBED output to the motors (0 - 255)igvc.pb.candigvc.pb.hto include the newleft_outputandright_outputfieldsmotor_controllerto extract the motor outputs and publish them.Fixes #403.
Testing steps (If relevant)
Test on Jessii
motor_controlleron Jessii and a joystick node, with wheels decoupledrostopic echo /motor_outputExpectation: It should values corresponding to what you are joysticking
Self Checklist
make format