Feature/arm code refactoring#33
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bennowotny merged 18 commits intoarm-test-jsp-and-controllerfrom Mar 8, 2023
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…motor/encoder directions
…eed converters. Need equivalent for differential speed converters.
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* Added functionality to retrieve over current status, updated build settings * Added functionality to stop all joints when a motor is over current * Added implementation for action server to stop when an over current fault is detected * set mock arm launch to launch the mock roboclaw * Added functionality to stop the action server when a motor is over current for too long * Fixed code in compliance with PR * Address fix in Motor.cpp * Corresponding const-change in Motor.hpp * Const-correctness in ArmControlActionServer.cpp --------- Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com>
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Tune PID to safer constants
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* Fixed some of the arm code to run the controller and the jsp at the same time. * Fixing controller logic, issue in differential joint marked * Adding documentation for new structure * Updates to the structure to be better formed and more dynamic with respect to inheritance * Starting to implement new design * Continuing implementation, doing simple parts first to remove big issues * Further implementation * Only Differential stuff and mains left * Up to mains complete * Removing old arm motor files, still in VC for reference * Fixed duplicating copies, need to resolve further * Fixed copying by allowing safer copying. Need to double check path planning * All fixed up. Added test script * Additional changes, some motion planning is possible, need to refine motor/encoder directions * Adding direction multipliers to formalize motor reversal in direct speed converters. Need equivalent for differential speed converters. * Updating constants * First autonomous actions on the arm * Adding legend * Adjusting parameters * Tuning joint limits * Re-homed default Y-position for arm * Feature/arm code refactoring (#33) * Starting to implement new design * Continuing implementation, doing simple parts first to remove big issues * Further implementation * Only Differential stuff and mains left * Up to mains complete * Removing old arm motor files, still in VC for reference * Fixed duplicating copies, need to resolve further * Fixed copying by allowing safer copying. Need to double check path planning * All fixed up. Added test script * Additional changes, some motion planning is possible, need to refine motor/encoder directions * Adding direction multipliers to formalize motor reversal in direct speed converters. Need equivalent for differential speed converters. * Updating constants * First autonomous actions on the arm * Adding legend * Adjusting parameters * Tuning joint limits * Feature/over current fault implementation (#31) * Added functionality to retrieve over current status, updated build settings * Added functionality to stop all joints when a motor is over current * Added implementation for action server to stop when an over current fault is detected * set mock arm launch to launch the mock roboclaw * Added functionality to stop the action server when a motor is over current for too long * Fixed code in compliance with PR * Address fix in Motor.cpp * Corresponding const-change in Motor.hpp * Const-correctness in ArmControlActionServer.cpp --------- Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com> * Removed I terms (need synchronization before we can do that) --------- Co-authored-by: Ben Nowotny <bennowotny65535@gmail.com> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com> * Re-added my deleted over current code --------- Co-authored-by: Ben Nowotny <bennowotny65535@gmail.com> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com>
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* Initial commit * fixin' things * Undid local testing changes * Undid local testing changes 2: electric boogaloo * more fixin' * Fixing PID constants * Using WROVER_HW to set encoder params * Updated moveit using new URDF * started fixing the launch files and packages for the new arm * Changed the names of the joints in the control layer * Generated new moveit package * Removing self-dependency * cleanup and fixes, works again * Separated action server and joint state publisher into separate applications for arm control system * Deleted old ArmControlSystem file * WIP on joint limits * Fixed date in header * Arm test jsp and controller (#34) * Fixed some of the arm code to run the controller and the jsp at the same time. * Fixing controller logic, issue in differential joint marked * Adding documentation for new structure * Updates to the structure to be better formed and more dynamic with respect to inheritance * Starting to implement new design * Continuing implementation, doing simple parts first to remove big issues * Further implementation * Only Differential stuff and mains left * Up to mains complete * Removing old arm motor files, still in VC for reference * Fixed duplicating copies, need to resolve further * Fixed copying by allowing safer copying. Need to double check path planning * All fixed up. Added test script * Additional changes, some motion planning is possible, need to refine motor/encoder directions * Adding direction multipliers to formalize motor reversal in direct speed converters. Need equivalent for differential speed converters. * Updating constants * First autonomous actions on the arm * Adding legend * Adjusting parameters * Tuning joint limits * Re-homed default Y-position for arm * Feature/arm code refactoring (#33) * Starting to implement new design * Continuing implementation, doing simple parts first to remove big issues * Further implementation * Only Differential stuff and mains left * Up to mains complete * Removing old arm motor files, still in VC for reference * Fixed duplicating copies, need to resolve further * Fixed copying by allowing safer copying. Need to double check path planning * All fixed up. Added test script * Additional changes, some motion planning is possible, need to refine motor/encoder directions * Adding direction multipliers to formalize motor reversal in direct speed converters. Need equivalent for differential speed converters. * Updating constants * First autonomous actions on the arm * Adding legend * Adjusting parameters * Tuning joint limits * Feature/over current fault implementation (#31) * Added functionality to retrieve over current status, updated build settings * Added functionality to stop all joints when a motor is over current * Added implementation for action server to stop when an over current fault is detected * set mock arm launch to launch the mock roboclaw * Added functionality to stop the action server when a motor is over current for too long * Fixed code in compliance with PR * Address fix in Motor.cpp * Corresponding const-change in Motor.hpp * Const-correctness in ArmControlActionServer.cpp --------- Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com> * Removed I terms (need synchronization before we can do that) --------- Co-authored-by: Ben Nowotny <bennowotny65535@gmail.com> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com> * Re-added my deleted over current code --------- Co-authored-by: Ben Nowotny <bennowotny65535@gmail.com> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com> * Updated rviz (#29) * Added launch files for testing the new arm visualization with the old arm controller * Added DisplayRobotState message for rviz * Put robot state publisher in correct place * Revising code * fix build issue * debug testing * Updated encoder params * Undo debugging changes * Removed random RobotStatePublisher * Fixed comment * created new wr_logic_joint_driver_arm package --------- Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Arthur <arthur.wang200255@outlook.com> Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com> --------- Co-authored-by: Arthur <arthur.wang200255@outlook.com> Co-authored-by: Ben Nowotny <bennowotny65535@gmail.com> Co-authored-by: WRover <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Ben Nowotny <44074469+bennowotny@users.noreply.github.com>
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Do feature/over-current-fault-implementation -> feature/arm-code-refactoring PR first.