14 Commits

Author	SHA1	Message	Date
David	858e03f385	feat: add rumble on headless ready, change turn to cubic ... 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??? ... Tested with controller but on Clucky	2025-09-10 22:46:27 -05:00
David	d5ba9ad721	feat: add speed and brake mode control ... 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 ... 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 ... 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 ... 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