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feat: add rev feedback and brake mode for arm

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This commit is contained in:
David
2025-05-31 01:56:50 +00:00
parent a700fd546c
commit fd240cf160
2 changed files with 25 additions and 24 deletions
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47
src/arm_pkg/arm_pkg/arm_node.py
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@@ -126,14 +126,15 @@ class SerialRelay(Node):
def send_ik(self, msg): def send_ik(self, msg):
pass pass
def send_manual(self, msg): def send_manual(self, msg: ArmManual):
axis0 = msg.axis0 axis0 = msg.axis0
axis1 = -1 * msg.axis1 axis1 = -1 * msg.axis1
axis2 = msg.axis2 axis2 = msg.axis2
axis3 = msg.axis3 axis3 = msg.axis3
#Send controls for arm #Send controls for arm
command = "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n" command = "can_relay_tovic,arm,18," + str(msg.brake) + "\n"
command += "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
#self.send_cmd(command) #self.send_cmd(command)
#Send controls for end effector #Send controls for end effector
@@ -183,8 +184,27 @@ class SerialRelay(Node):
#pass #pass
self.updateBusVoltage(output) self.updateBusVoltage(output)
elif output.startswith("can_relay_fromvic,arm,53"): elif output.startswith("can_relay_fromvic,arm,53"):
#pass parts = str(output.strip()).split(",")
self.updateMotorFeedback(output) motorId = round(float(parts[3]))
temp = float(parts[4]) / 10.0
voltage = float(parts[5]) / 10.0
current = float(parts[6]) / 10.0
if motorId == 1:
self.arm_feedback.axis1_temp = temp
self.arm_feedback.axis1_voltage = voltage
self.arm_feedback.axis1_current = current
elif motorId == 2:
self.arm_feedback.axis2_temp = temp
self.arm_feedback.axis2_voltage = voltage
self.arm_feedback.axis2_current = current
elif motorId == 3:
self.arm_feedback.axis3_temp = temp
self.arm_feedback.axis3_voltage = voltage
self.arm_feedback.axis3_current = current
elif motorId == 4:
self.arm_feedback.axis0_temp = temp
self.arm_feedback.axis0_voltage = voltage
self.arm_feedback.axis0_current = current
elif output.startswith("can_relay_fromvic,digit,54"): elif output.startswith("can_relay_fromvic,digit,54"):
parts = msg.data.split(",") parts = msg.data.split(",")
if len(parts) >= 7: if len(parts) >= 7:
@@ -256,25 +276,6 @@ class SerialRelay(Node):
self.get_logger().info("Invalid voltage feedback input format") self.get_logger().info("Invalid voltage feedback input format")
def updateMotorFeedback(self, msg):
# Motor voltage/current/temperature feedback
return
# parts = msg.data.split(",")
# if len(parts) >= 7:
# # Extract the voltage/current/temperature from the string
# values_in = parts[3:7]
# # Convert the voltages to floats
# for i in range(4):
# #update arm_feedback's axisX_temp for each axis0_temp, axis1_temp, etc...
# pass
# # self.arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0)
# # self.arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
# # self.arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0)
# else:
# self.get_logger().info("Invalid motor feedback input format")
@staticmethod @staticmethod
def list_serial_ports(): def list_serial_ports():
return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*") return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")

2
src/ros2_interfaces_pkg

Submodule src/ros2_interfaces_pkg updated: be99083bee...a4c628fc4c