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941e196316ce6144b11ff19eba27fe742dfca747
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342 Commits

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Author SHA1 Message Date
ryleu
941e196316 implement review comments 2026-03-21 18:14:44 -05:00
ryleu
7a3c4af1ce remove .envrc sourcing of install 2026-03-18 23:28:49 -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
e588ff0a7b Arm topic refactor (#33) 
Headless too
 2026-03-17 23:34:35 -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
Riley M.
3f68052144 Merge pull request #30 from SHC-ASTRA/update-python 
-> python 3.13
 2026-02-09 21:49:08 -05:00
ryleu
c72f72dc32 -> python 3.13 2026-02-08 17:23:53 -06:00
Riley M.
61f5f1fc3e Merge pull request #29 from SHC-ASTRA/qos-disable 
Qos disable
 2026-02-07 18:20:04 -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
David
073b9373bc feat: (arm) add new feedback topic 2026-02-04 04:00:17 -06:00
David
5a4e9c8e53 feat: (arm) add VicCAN feedback section for Digit alongside Socket 2026-02-04 04:00:17 -06:00
David
292873a50a refactor: (arm) move joint position feedback to VicCAN callback 2026-02-04 04:00:17 -06:00
David
78fef25fdd fix: (arm) get joint velocity feedback correctly 2026-02-04 04:00:17 -06:00
David
cf4a4b1555 feat: (arm) switch IK control from position to velocity 2026-02-04 04:00:17 -06:00
David
dbbbc28f95 feat: (arm) add rev velocity feedback 2026-02-04 04:00:17 -06:00
David
e644a3cad5 docs: add graphs for individual anchor nodes 2026-02-04 04:00:17 -06:00
David
bf42dbd5af docs: add rqt_graph outputs to readme 2026-02-04 04:00:17 -06:00
David
b6d5b1e597 feat: (latency_tester) parameterize mcu_name 
ik this is not related to arm stfu this is the everything branch now
 2026-02-04 04:00:17 -06:00