David
96f5eda005
feat: (headless) detect incorrectly connected controller
2025-11-10 22:02:49 -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 Sharpe
1281236b36
fix: I hate python ( #21 )
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BioControl.drill expects an int, have to explicitly cast to an int or headless will crash
Makes main branch functional
2025-10-25 11:10:07 -05:00
David
fe1ae6120f
feat: all the features
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* 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
David
44aa4b0848
feat: ramp drill speed
2025-10-23 01:00:13 -05:00
David
d879a3bae4
feat: add drill to bio headless
2025-10-21 10:41:34 -05:00
David
b12515bf11
fix: rover can turn left again
2025-10-18 02:09:50 -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
ebd07258f0
refactor: replace speed_mode with max_duty for core control
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Makes it make more sense
2025-10-09 16:19:34 -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
36da0203bc
fix: make turning input curve less aggressive
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^2 instead of ^3. Not tested, hopefully makes it a lil better
2025-10-01 21:49:40 -05:00
David
87b2ab6f8c
fix!: remove bio from headless
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Slows down controls too much, going to need to figure something out for speeding that up
2025-10-01 11:18:31 -05:00
David
8c5287158d
fix: arm/bio headless works again
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I hate python
2025-09-30 11:56:05 -05:00
David
97fa17a4a8
feat: add bio to headless
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NOTE: UNTESTED
2025-09-29 11:34:35 -05:00
David
a25983126f
refactor: move headless globals to class vars
2025-09-29 09:25:07 -05:00
David
647ff34fa5
feat: add rumble on headless mode switch (core/arm)
2025-09-29 09:16:43 -05:00
David
00be1cef52
fix: make headless rumble stronger
2025-09-11 18:33:30 -05:00
David
858e03f385
feat: add rumble on headless ready, change turn to cubic
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Controller rumbles for 200ms when __init__() finishes, and angular is now cubic so turning control follows a curve rather than a straight line (y=x^3 instead of y=x)
2025-09-10 22:59:27 -05:00
David
882cbc5949
fix: -float is not float???
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Tested with controller but on Clucky
2025-09-10 22:46:27 -05:00
David
d5ba9ad721
feat: add speed and brake mode control
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Speed mode is set with bumpers, brake mode is set with 'A' button. Implemented through /core/control/state topic with custom message CoreCtrlState.
Also added Core measurements from Gabe, and did some general refactoring.
2025-09-10 10:49:51 -05:00
David
93226203f1
style: clean up core and headless
2025-09-09 20:12:46 -05:00
David
0c1a368499
feat: add Twist support to headless and core_pkg
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Left stick y is forward/backward, right stick x is turn/angular. Still uses duty cycle. Published on /core/twist. On headless, needs CORE_MODE constant changed to "twist" to use new Twist command.
Also added TwistStamped to core_pkg for /cmd_vel. Will use velocity control. Needs wheel measurements from Core CAD. Will be used for Autonomy.
2025-09-08 09:51:25 -05:00
David
5461fbab11
fix: round() is not float ._.
2025-09-02 12:24:38 -05:00
David
caf20f46f6
refactor: poll controller state all at once, add deadzones
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UNTESTED
Also adds ability to control axis 0 while controlling wrist
2025-09-02 02:43:38 -05:00
David
d3dbbf8658
style: fix author stuff for headless_pkg
2025-08-28 18:55:22 -05:00
David
4254ecc4ce
fix: python float/int for /core/control
2025-08-22 16:41:54 -05:00
David Sharpe
10757c8c71
fix: names in ROS2 files were incorrect for headless_full, add new service files for NUC
2025-08-21 16:31:59 -05:00
David Sharpe
826f14725a
feat: create headless_pkg, combine core and arm headless
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Toggleable with Dpad up/down
2025-08-17 09:33:28 -05:00
Tristan McGinnis
f243bd7d43
Removed headless_pkg
2025-02-18 13:02:46 -06:00
Tristan McGinnis
e6a1513f2d
merge core headless
2025-02-18 12:59:03 -06:00
Tristan McGinnis
eb466e11b7
Initial commit, add all current packages
2025-02-18 11:52:25 -06:00
