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Fix the shooter controller logic wrong #192

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Merged
YoujianWu merged 2 commits into from
Apr 8, 2025
Merged

Fix the shooter controller logic wrong #192

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edc57bd
Fix the shooter controller logic wrong.
321Aurora Apr 7, 2025
db61b20
Fix code format.
321Aurora Apr 7, 2025
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1 change: 1 addition & 0 deletions rm_shooter_controllers/include/rm_shooter_controllers/standard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,7 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
std::vector<std::vector<effort_controllers::JointVelocityController*>> ctrls_friction_;
effort_controllers::JointPositionController ctrl_trigger_;
std::vector<std::vector<double>> wheel_speed_offsets_;
std::vector<std::vector<double>> wheel_speed_directions_;
int push_per_rotation_{}, count_{};
double push_wheel_speed_threshold_{};
double freq_threshold_{};
Expand Down
31 changes: 19 additions & 12 deletions rm_shooter_controllers/src/standard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,16 +77,20 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro

XmlRpc::XmlRpcValue friction;
double wheel_speed_offset;
double wheel_speed_direction;
effort_joint_interface_ = robot_hw->get<hardware_interface::EffortJointInterface>();
controller_nh.getParam("friction", friction);
for (const auto& its : friction)
{
std::vector<double> wheel_speed_offset_temp;
std::vector<double> wheel_speed_direction_temp;
std::vector<effort_controllers::JointVelocityController*> ctrl_frictions;
for (const auto& it : its.second)
{
ros::NodeHandle nh = ros::NodeHandle(controller_nh, "friction/" + its.first + "/" + it.first);
wheel_speed_offset_temp.push_back(nh.getParam("wheel_speed_offset", wheel_speed_offset) ? wheel_speed_offset : 0.);
wheel_speed_direction_temp.push_back(
nh.getParam("wheel_speed_direction", wheel_speed_direction) ? wheel_speed_direction : 1.);
effort_controllers::JointVelocityController* ctrl_friction = new effort_controllers::JointVelocityController;
if (ctrl_friction->init(effort_joint_interface_, nh))
ctrl_frictions.push_back(ctrl_friction);
Expand All @@ -95,6 +99,7 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
}
ctrls_friction_.push_back(ctrl_frictions);
wheel_speed_offsets_.push_back(wheel_speed_offset_temp);
wheel_speed_directions_.push_back(wheel_speed_direction_temp);
}
ros::NodeHandle nh_trigger = ros::NodeHandle(controller_nh, "trigger");
return ctrl_trigger_.init(effort_joint_interface_, nh_trigger);
Expand Down Expand Up @@ -194,12 +199,13 @@ void Controller::push(const ros::Time& time, const ros::Duration& period)
ROS_INFO("[Shooter] Enter PUSH");
}
bool wheel_speed_ready = true;
for (auto& ctrl_frictions : ctrls_friction_)
for (size_t i = 0; i < ctrls_friction_.size(); i++)
{
for (auto& ctrl_friction : ctrl_frictions)
for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
{
if (ctrl_friction->joint_.getVelocity() < push_wheel_speed_threshold_ * ctrl_friction->command_ ||
ctrl_friction->joint_.getVelocity() <= M_PI)
if (wheel_speed_directions_[i][j] * ctrls_friction_[i][j]->joint_.getVelocity() <
push_wheel_speed_threshold_ * ctrls_friction_[i][j]->command_ ||
wheel_speed_directions_[i][j] * ctrls_friction_[i][j]->joint_.getVelocity() <= M_PI)
wheel_speed_ready = false;
}
}
Expand Down Expand Up @@ -268,12 +274,12 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
{
static int friction_block_count = 0;
bool friction_wheel_block = false;
for (auto& ctrl_frictions : ctrls_friction_)
for (size_t i = 0; i < ctrls_friction_.size(); i++)
{
for (auto& ctrl_friction : ctrl_frictions)
for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
{
if (ctrl_friction->joint_.getVelocity() <= friction_block_vel_ &&
abs(ctrl_friction->joint_.getEffort()) >= friction_block_effort_ && cmd.wheel_speed != 0)
if (wheel_speed_directions_[i][j] * ctrls_friction_[i][j]->joint_.getVelocity() <= friction_block_vel_ &&
abs(ctrls_friction_[i][j]->joint_.getEffort()) >= friction_block_effort_ && cmd.wheel_speed != 0)
friction_wheel_block = true;
}
}
Expand All @@ -283,7 +289,8 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
{
for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
{
ctrls_friction_[i][j]->setCommand(cmd_.wheel_speed + config_.extra_wheel_speed + wheel_speed_offsets_[i][j]);
ctrls_friction_[i][j]->setCommand(wheel_speed_directions_[i][j] *
(cmd_.wheel_speed + config_.extra_wheel_speed + wheel_speed_offsets_[i][j]));
}
}
}
Expand All @@ -292,11 +299,11 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
double command = (friction_block_count <= static_cast<int>(anti_friction_block_duty_cycle_ * 1000)) ?
anti_friction_block_vel_ :
0.;
for (auto& ctrl_frictions : ctrls_friction_)
for (size_t i = 0; i < ctrls_friction_.size(); i++)
{
for (auto& ctrl_friction : ctrl_frictions)
for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
{
ctrl_friction->setCommand(command);
ctrls_friction_[i][j]->setCommand(command);
}
}
friction_block_count = (friction_block_count + 1) % 1000;
Expand Down
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