aaron/rover-ros2
1
0
Fork 0
mirror of https://github.com/SHC-ASTRA/rover-ros2.git synced 2026-02-11 09:20:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix: correctly account for neg linear

Browse Source 
Rover couldn't drive forwards lmao... Now correctly inverts turning direction when driving backwards... Could use some work tho, a little confusing rn.

Also got some rough measurements from the rover with a tape measurement, updated wheelbase and wheel radius.
This commit is contained in:
David
2025-09-09 12:51:48 -05:00
parent bac9b3cbe0
commit 4c972e6264
1 changed files with 6 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
src/core_pkg/core_pkg/core_node.py
View File

@@ -26,8 +26,8 @@ from geometry_msgs.msg import TwistStamped, Twist
serial_pub = None serial_pub = None
thread = None thread = None
CORE_WHEELBASE = 0.34 # meters -- TODO: verify CORE_WHEELBASE = 0.84 # meters -- TODO: verify
CORE_WHEEL_RADIUS = 0.075 # meters -- TODO: verify CORE_WHEEL_RADIUS = 0.015 # meters -- TODO: verify
CORE_GEAR_RATIO = 100 # Clucky: 100:1, Testbed: 64:1 CORE_GEAR_RATIO = 100 # Clucky: 100:1, Testbed: 64:1
control_qos = qos.QoSProfile( control_qos = qos.QoSProfile(
@@ -231,6 +231,9 @@ class SerialRelay(Node):
def twist_man_callback(self, msg: Twist): def twist_man_callback(self, msg: Twist):
linear = msg.linear.x # [-1 1] for forward/back from left joy y linear = msg.linear.x # [-1 1] for forward/back from left joy y
angular = -msg.angular.z # [-1 1] for left/right from right joy x angular = -msg.angular.z # [-1 1] for left/right from right joy x
if (linear < 0): # reverse turning direction when going backwards
angular *= -1
if abs(linear) > 1 or abs(angular) > 1: if abs(linear) > 1 or abs(angular) > 1:
# if speed is greater than 1, then there is a problem # if speed is greater than 1, then there is a problem
@@ -243,10 +246,6 @@ class SerialRelay(Node):
scale = max(1, abs(duty_left), abs(duty_right)) scale = max(1, abs(duty_left), abs(duty_right))
duty_left /= scale duty_left /= scale
duty_right /= scale duty_right /= scale
if (linear < 0): # reverse direction when going backwards
duty_left *= -1
duty_right *= -1
command = f"can_relay_tovic,core,19,{duty_left},{duty_right}\n" command = f"can_relay_tovic,core,19,{duty_left},{duty_right}\n"
self.send_cmd(command) self.send_cmd(command)
@@ -258,7 +257,7 @@ class SerialRelay(Node):
output.data = msg output.data = msg
self.anchor_pub.publish(output) self.anchor_pub.publish(output)
elif self.launch_mode == 'core': elif self.launch_mode == 'core':
self.get_logger().info(f"[Core to MCU] {msg.data}") self.get_logger().info(f"[Core to MCU] {msg}")
self.ser.write(bytes(msg, "utf8")) self.ser.write(bytes(msg, "utf8"))
def anchor_feedback(self, msg: String): def anchor_feedback(self, msg: String):