62 Commits

Author	SHA1	Message	Date
ryleu	0a257abf43	make the pad 3 -> logic consistent	2026-04-07 23:44:38 -05:00
ryleu	b09b55bee0	fix bug because apparently python has arrays	2026-04-07 22:19:55 -05:00
ryleu	ec7f272934	clean up code	2026-04-07 22:16:08 -05:00
ryleu	bc9183d59a	make mock mcu use VicCAN messages	2026-04-07 21:52:52 -05:00
ryleu	89b3194914	update documentation and accept 3-value VicCAN messages	2026-04-02 19:43:10 -05:00
ryleu	4ef226c094	nix fmt	2026-04-01 03:31:21 -05:00
SHC-ASTRA	327539467c	fixed can connector	2026-04-01 02:50:12 -05:00
SHC-ASTRA	e570d371c6	fix a plethora of bugs related to the serial connector	2026-04-01 01:48:40 -05:00
ryleu	f7efa604d2	finish adding parameters	2026-03-23 20:39:50 -05:00
ryleu	fe46a2ab4d	fix wrong order for initialization	2026-03-23 13:25:13 -05:00
ryleu	941e196316	implement review comments	2026-03-21 18:14:44 -05:00
ryleu	5e5a52438d	black fmt	2026-03-18 23:22:42 -05:00
ryleu	c814f34ca6	rewrite the launch file	2026-03-18 00:12:42 -05:00
ryleu	ce39d0aeb9	Merge remote-tracking branch 'origin/main' into can-refactor	2026-03-17 23:57:38 -05:00
ryleu	9b96244a1b	add can support	2026-03-17 23:52:37 -05:00
ryleu	b388275bba	clean stuff up a bit to prep for CAN	2026-02-15 17:23:18 -06:00
ryleu	5c0194c543	remove KNOWN_USBS from anchor_node.py	2026-02-15 01:05:37 -06:00
ryleu	809ca71208	remove nested for loops	2026-02-15 01:04:43 -06:00
SHC-ASTRA	225700bb86	tested it on testbed and had to change things	2026-02-15 00:47:20 -06:00
ryleu	4459886fc1	add a mock mode and fix a logic error	2026-02-14 23:16:34 -06:00
ryleu	18fce2c19b	worth a shot to see if it works	2026-02-14 21:39:32 -06:00
David	ddfceb1b42	feat: add launch config for ptz ... Disable PTZ node with `ros2 launch anchor_pkg rover.launch.py use_ptz:=false` instead of commenting it out	2026-02-04 04:00:17 -06:00
David	40fa0d0ab8	style: (anchor) better comment serial finding	2025-11-21 17:06:37 -06:00
David	3bb3771dce	fix: (anchor) ignore UnicodeDecodeError when getting mcu name	2025-11-11 13:18:36 -06:00
David	5e7776631d	feat: (anchor) add new Serial finder code ... Uses vendor and product ids to find a microcontroller, and detects its name after connecting. Upon failure, falls back to Areeb's code--just in case. Also renamed `self.ser` to `self.serial_interface` and `self.port` to `self.serial_port` for clarity.	2025-11-10 23:24:14 -06:00
David	b84ca6757d	refactor: (anchor) cleanup structural ros2 code	2025-11-10 22:45:43 -06:00
David	4c1416851e	style: move pub/sub docs comment, rename SerialPub to Anchor	2025-11-10 21:58:03 -06:00
ryleu	d7fd133586	updated to astra_msgs	2025-11-06 21:35:47 -06:00
ryleu	c107b82a8d	reformat with black	2025-11-06 19:10:21 -06:00
David	4ce183773d	feat: finish removing old ikpy-based IK	2025-10-25 11:15:32 -05:00
David Sharpe	2db9b67ebc	feat: add viz code from Tristan's ik_test and add CAD to URDF	2025-10-25 11:15:30 -05:00
David	fe1ae6120f	feat: all the features ... * Move rover-ros2/rover_launch.py to src/anchor_pkg/launch/, renamed to rover.launch.py * Anchor now waits to initialize topics until after it has found a microcontroller. * Headless now waits for anchor to start before it starts itself * Add default cases to motor feedback for motorId * Added black to the flake.nix and package.xml	2025-10-23 02:22:31 -05:00
ryleu	c4f60d6814	clean up nitpicks	2025-10-23 00:52:19 -05:00
ryleu	414254b3b7	add a PORT_OVERRIDE env var	2025-10-18 02:35:09 -05:00
David Sharpe	aa84667aab	feat: add depencies to packages.xml files, add packages to flake.nix	2025-10-17 18:06:54 -05:00
David	89015ee7a5	feat: add VicCAN message validity checking and core feedback data length checking	2025-10-14 15:21:23 -05:00
David	0e256c7d22	feat: add agpl-3.0-only license	2025-10-04 23:24:23 -05:00
David	b62060026c	style: minor edits based on riley's comments	2025-10-04 23:08:04 -05:00
David	e5af28af3a	feat: add Core URDF with basic Gazebo sim	2025-09-30 17:49:01 -05:00
David	644459ec71	style: explain anchor topics in comment block	2025-09-29 11:09:05 -05:00
David	b1f4fe8320	refactor: change Core commands to VicCAN	2025-09-29 10:29:01 -05:00
David	7992acf60f	feat: add VicCAN topics to Anchor	2025-09-28 19:22:56 -05:00
David	cdc2c7e703	refactor: post-comp IK testing	2025-07-24 00:07:06 -05:00
Tristan McGinnis	fb699984b9	Removing print statements from anchor and core to clean up output	2025-07-23 23:08:12 -05:00
Tristan McGinnis	8e3f2ee88a	fix: anchor publishes feedback for respective feedback topics	2025-07-23 23:00:56 -05:00
Tristan McGinnis	0c3f27667a	SIGSTP no longer does sys.exit()	2025-07-23 22:59:45 -05:00
Tristan McGinnis	8c4f75f75e	feat: nodes should die entirely if no MCU found ... This should allow anchor to restart automatically if it's being run as a service	2025-07-23 22:59:45 -05:00
Tristan McGinnis	5df3027fa0	fix: anchor enables CAN Relay	2025-07-23 22:58:54 -05:00
Tristan McGinnis	3dd544d711	Update anchor_node.py for bio feedback from digit	2025-05-27 16:19:19 -06:00
David	ff68d53e24	feat: update for new faerie arm	2025-05-23 05:46:19 +00:00