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Author	SHA1	Message	Date
Tristan McGinnis	2c27c81dc5	update angles for IK when control command is sent	2025-07-23 23:07:23 -05:00
Tristan McGinnis	3288aea14c	revert changes for split	2025-07-23 23:07:23 -05:00
Tristan McGinnis	0416277cd9	attempting to fix split error	2025-07-23 23:07:23 -05:00
Tristan McGinnis	440a94f0cc	refactor some things, reenable feedback	2025-07-23 23:07:23 -05:00
Tristan McGinnis	9d13d487cb	Fixes for string splitting	2025-07-23 23:07:00 -05:00
Tristan McGinnis	0ea4c73876	comment out some stuff to test delays	2025-07-23 23:05:48 -05:00
Tristan McGinnis	43fdc7587a	send manual control debug print	2025-07-23 23:04:59 -05:00
Tristan McGinnis	53b4259ade	disable feedback	2025-07-23 23:04:41 -05:00
Tristan McGinnis	482bedbfaf	debug print for manual control	2025-07-23 23:04:41 -05:00
Tristan McGinnis	923dfa20ca	remove all debug publishing for arm	2025-07-23 23:04:06 -05:00
Tristan McGinnis	6a747f92fb	Fix: Add more dummy values to support new urdf	2025-07-23 23:03:44 -05:00
Tristan McGinnis	9f8f51b742	Fix: missed a spot	2025-07-23 23:03:44 -05:00
Tristan McGinnis	8b9b72e78f	Add dummy link for effector	2025-07-23 23:03:44 -05:00
Tristan McGinnis	c9533e3f55	Convert angles to radians for IK	2025-07-23 23:03:44 -05:00
ASTRA-SHC	2860463501	fixes and debug to ik- need to update the model	2025-07-23 23:03:23 -05:00
Tristan McGinnis	60952db588	swap to numpy arrays	2025-07-23 23:03:23 -05:00
Tristan McGinnis	3d18e20946	More fixes for arm_node.py	2025-07-23 23:03:23 -05:00
Tristan McGinnis	5eb9e8a2e3	add get_position_vector3()	2025-07-23 23:03:23 -05:00
Tristan McGinnis	c302626512	remove vector normalization- done on base station	2025-07-23 23:03:23 -05:00
Tristan McGinnis	5c41d66404	debug printing	2025-07-23 23:03:23 -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	3985c11ae2	Added debug output to /arm/feedback/debug for testing IK	2025-07-23 23:02:59 -05:00
Tristan McGinnis	4420e83981	remove debug print for arm_node	2025-07-23 23:01:26 -05:00
Tristan McGinnis	f00a7d21ce	Fix: arm angle feedback working	2025-07-23 23:01:26 -05:00
Tristan McGinnis	27cf4d9982	debug print for arm_node socket_pub_callback	2025-07-23 23:00:56 -05:00
Tristan McGinnis	8e3f2ee88a	fix: anchor publishes feedback for respective feedback topics	2025-07-23 23:00:56 -05:00
Tristan McGinnis	9826b39e7e	Fix: arm feedback through anchor	2025-07-23 23:00:21 -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
Tristan McGinnis	f12daff861	feat: fully remove socket_feedback class	2025-07-23 22:59:45 -05:00
ASTRA-SHC	e059f5cfec	nuking socket feedback class	2025-07-23 22:59:45 -05:00
Tristan McGinnis	b6348e4c00	temp: print statements	2025-07-23 22:59:11 -05:00
Tristan McGinnis	99916b317f	temp: raw angle output arm_node	2025-07-23 22:58:54 -05:00
Tristan McGinnis	5fc704dbc4	fix: proper astra_arm import for arm_node	2025-07-23 22:58:54 -05:00
Tristan McGinnis	5df3027fa0	fix: anchor enables CAN Relay	2025-07-23 22:58:54 -05:00
Tristan McGinnis	f4a611567e	feat: IK result calculated and sent to MCU	2025-07-23 22:58:54 -05:00
Tristan McGinnis	9dacdfb385	refactor: feedback record helper functions	2025-07-23 22:58:06 -05:00
Tristan McGinnis	a417034436	fix: update socketFeedback() class	2025-07-23 22:56:54 -05:00
Tristan McGinnis	85a231478e	feat: All feedback for socket, early ik implement	2025-07-23 22:56:54 -05:00
Tristan McGinnis	ec3b95944d	Add helper functions to arm class	2025-07-23 22:51:56 -05:00
Tristan McGinnis	0adab485f2	Add urdf folder and arm11.urdf	2025-07-23 22:51:56 -05:00
ASTRA	ddb6d672ad	Increase arm feedback freq	2025-05-31 10:01:33 -05:00
David Sharpe	6f80d628b1	fix: arm brake mode now casts correctly	2025-05-31 09:51:05 -05:00
Tristan McGinnis	d4543a224a	digit linear actuator control	2025-05-30 23:58:57 -06:00
David	fd240cf160	feat: add rev feedback and brake mode for arm	2025-05-31 01:56:50 +00:00
Tristan McGinnis	a700fd546c	Update arm_headless.py, remove read_feedback()	2025-05-30 19:48:41 -06:00
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	baefd0661e	Merge pull request #13 from SHC-ASTRA/improve-core-headless ... Improve core headless	2025-05-29 18:28:32 -06:00