290 Commits

Author	SHA1	Message	Date
David	79b2d0020f	feat(anchor): add is_main and is_dirty to versioning	2026-04-15 23:50:47 -05:00
David	3dd9525833	feat(anchor): add MCU Versioning feedback	2026-04-14 15:38:41 -05:00
ryleu	30bb32a66b	remove extraneous slice	2026-04-08 00:09:04 -05:00
David	010d2da0b6	fix: string number	2026-04-07 23:45:40 -05:00
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
David Sharpe	e83642cfe8	style: (arm) fix comment and variable name	2026-03-17 23:07:06 -05:00
David Sharpe	67b3c5bc8f	refactor: (arm) consolidate velocity control VicCAN into single function	2026-03-17 01:44:32 -05:00
David Sharpe	c506a34b37	style: (arm) format	2026-03-17 01:43:22 -05:00
David Sharpe	980c08ba4f	refactor: implement Riley's comments ... - Add @warnings.deprecated decorators to callbacks that use old topics - Rename "*new*" topics - Print debug on malformed message receival - Un-invert Axes 2 & 3 in the URDF - Don't silently check mcu_name twice - Remove threading.Thread (not one of Riley's comments) - Add a real signal handler (ditto) - Move stamped stop messages to helper functions	2026-03-17 01:14:18 -05:00
David Sharpe	743744edaa	refactor: (headless) change string parameters to bool	2026-03-16 00:39:22 -05:00
David Sharpe	292b3a742d	refactor: (headless) cleanup mainly arm	2026-03-16 00:26:35 -05:00
David Sharpe	62fd1b110d	refactor: remedy QoS profiles	2026-03-08 03:57:28 -05:00
David Sharpe	aaf40124fa	Merge branch 'main' into arm-topic-refactor	2026-03-08 03:56:25 -05:00
David Sharpe	294ae393de	feat: (headless) add new arm manual (JointJog)	2026-03-08 03:29:20 -05:00
David Sharpe	9c9d3d675e	refactor: (headless) reorganize send_controls() into different functions	2026-03-08 01:08:17 -06:00
David Sharpe	6fa47021fc	refactor: (headless) reorganize __init__(), add use_old_topics parameter	2026-03-08 00:42:41 -06:00
David Sharpe	f23d8c62ff	feat: (arm) add use_old_topics parameter	2026-03-08 00:19:06 -06:00
David Sharpe	667247cac8	refactor: (arm) reorganize __init__() and remove run()	2026-03-08 00:10:33 -06:00
David Sharpe	0929cc9503	feat: (arm) add JointJog for manual arm input	2026-03-07 23:55:33 -06:00
David Sharpe	169ab85607	refactor: formalize Arm URDF joint and link names	2026-03-07 16:36:58 -06:00
David Sharpe	bfa0d79840	chore: remove servo_arm_twist_pkg (replaced by headless) ... Not sure why I haven't already done this...	2026-03-02 03:14:21 -06:00
David Sharpe	c766441ff2	fix: (arm) )add timestamp to Socket voltages, change while: pass to thread.join()	2026-03-02 03:13:13 -06:00
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	a3044963e5	feat: (arm) lin ac go back in too	2026-02-14 13:19:49 -06:00
David	13419e97c9	refactor: (arm) cleanup old standalone serial code ... Removed literally 100 lines	2026-02-04 04:26:50 -06:00
David	51d0e747ad	fix: (headless) make new arm controls useable	2026-02-04 04:00:17 -06:00
David	caa5a637bb	feat: (headless) add arm IK control support ... Only Twist-based so far, no JointJog. need to figure out which frame to send commands in. Currently `base_link`.	2026-02-04 04:00:17 -06:00
David	213105a46b	feat: (headless) add env var to configure stick deadzone	2026-02-04 04:00:17 -06:00
David	7ed2e15908	refactor: (headless) only send stop messages on mode change ... As opposed to constantly sending them always	2026-02-04 04:00:17 -06:00
David	5f5f6e20ba	feat: (headless) add new control scheme for arm	2026-02-04 04:00:17 -06:00
David	8f9a2d566d	style: (arm) format with black (oops)	2026-02-04 04:00:17 -06:00