42 Commits

Author	SHA1	Message	Date
David	bac9b3cbe0	fix: correct turning direction	2025-09-08 23:01:40 -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	056ffd1eb6	feat: add Twist and Imu messages to Core	2025-09-07 20:04:01 -05:00
David	4e1e0e29dd	style: get ready for main	2025-08-12 08:49:12 -05:00
David	cdc2c7e703	refactor: post-comp IK testing	2025-07-24 00:07:06 -05:00
Tristan McGinnis	dde9d61a33	fix formatting for anchor print statements in arm and core	2025-07-23 23:03:23 -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
David	48b0f7e1f9	fix: replace int() with round(float()) for core motor feedback	2025-05-31 01:05:11 +00:00
Tristan McGinnis	822f84c1c1	Remove /10.0 on heading for core feedback	2025-05-30 19:01:50 -06:00
David	5f708a2002	feat: add rev motor feedback for core	2025-05-30 03:02:01 +00:00
Tristan McGinnis	80d59cc275	reorganize core headless node for usage as a service	2025-05-28 22:57:38 -06:00
Tristan McGinnis	b06194053c	invert controls for sticks on core headless, set max speed up to 90	2025-05-28 22:44:56 -06:00
Tristan McGinnis	3516d36294	subup, update core to add gps altitude	2025-05-28 10:10:59 -06:00
Tristan McGinnis	4df319cb1b	Merge branch 'bio-linac' into ptz-node	2025-05-27 15:47:59 -06:00
David	bff729f25a	style: add a few type annotations	2025-05-27 19:59:13 +00:00
ryleu	a4d3f0dfbe	no idea if this works, thanks gemini	2025-05-27 00:39:52 -05:00
Tristan McGinnis	9d10607b2e	Remove logger() outputs and assume always connected to prevent breaking	2025-05-25 21:21:28 -06:00
Tristan McGinnis	7d9ca314a7	Functional PTZ control node	2025-05-25 20:43:49 -06:00
David	7027900620	fix: round float imu_calib	2025-05-26 02:36:51 +00:00
David	9f3ff0f8df	fix: interface names	2025-05-26 02:34:16 +00:00
Tristan McGinnis	3ed821f4fb	ai draft of ptz control code	2025-05-25 18:08:56 -06:00
David	f34ef88d6c	feat: add brake mode to core	2025-05-24 16:03:33 +00:00
David	6b0ea58e95	feat: add imu calibration for core	2025-05-24 00:02:28 +00:00
David Sharpe	4a9a0bfb0d	feat: add auto turnto function (#9) ... * Subup * subup interface pkg again * Add turnto check in core_node * fix cpp syntax oops --------- Co-authored-by: Tristan McGinnis <tristanmcginnis26@gmail.com>	2025-05-22 23:37:44 -05:00
Tristan McGinnis	81558b9f48	add core feedback functionality (ANCHOR)	2025-05-10 12:24:13 -05:00
David Sharpe	a7a482bd0f	feat: unflip left_stick for core control	2025-04-25 18:42:57 -05:00
Tristan McGinnis	f11b9123ea	enable relay mode on core on startup	2025-03-29 11:37:30 -05:00
Tristan McGinnis	b220674e59	Add bio package. Subup ros2_interfaces_pkg	2025-02-24 17:39:27 -06:00
Tristan McGinnis	2d03a45e40	fix up prints	2025-02-20 23:20:22 -06:00
Tristan McGinnis	a754a270c1	fix get_logger() calls	2025-02-20 23:18:48 -06:00
Tristan McGinnis	d000a2007a	remove debug prints	2025-02-20 14:53:44 -06:00
Tristan McGinnis	93a24b6eab	final fix for string output on anchor_relay for core	2025-02-20 14:31:53 -06:00
Tristan McGinnis	251c877083	more testing	2025-02-20 14:27:57 -06:00
Tristan McGinnis	86ad80f8db	more testing with msg.data	2025-02-20 14:24:02 -06:00
Tristan McGinnis	b2bb4c1e67	fix: control msg for anchor should relay msg.data	2025-02-20 14:20:31 -06:00
Tristan McGinnis	6f98eb231a	potential fix for core node not spinning in anchor mode	2025-02-20 14:17:45 -06:00
Tristan McGinnis	aa231d43ca	core debug outputs	2025-02-20 14:16:11 -06:00
Tristan McGinnis	8e757464d1	Fixed Core Node still trying to use ports in anchor mode	2025-02-20 11:41:42 -06:00
Tristan McGinnis	7a0d73394d	add launch mode logic	2025-02-19 22:49:15 -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