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
4c972e6264
fix: correctly account for neg linear
...
Rover couldn't drive forwards lmao... Now correctly inverts turning direction when driving backwards... Could use some work tho, a little confusing rn.
Also got some rough measurements from the rover with a tape measurement, updated wheelbase and wheel radius.
2025-09-09 12:51:48 -05:00
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 Sharpe
8868408ac3
feat: add arm support to headless (headless_combine #16 )
...
Create new headless_pkg with Core + Arm
Toggle with dpad up/down; up for arm, down for core
2025-09-07 19:11:12 -05:00
David
5461fbab11
fix: round() is not float ._.
2025-09-02 12:24:38 -05:00
David
a0db7f62bc
refactor: move auto_start folder into rover-ros2 from home dir
2025-09-02 02:56:50 -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
37774c0c31
feat: add systemd files from NUC
2025-08-21 15:26:53 -05:00
David Sharpe
5c0cd926da
feat: add Tristan's IK with ikpy ( #15 ik_dev)
...
Add IK (Tristan's work)
Slow, but works. Takes a 3d displacement vector in meters for direction that the arm should be moving. Provides target joint angles that embedded drives the axes to.
2025-08-18 12:14:05 -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
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
bd5c3c3c5a
print debug to screen & ik debug publisher
2025-07-23 23:08:26 -05:00
Tristan McGinnis
d270235088
add current angles to ik debug output
2025-07-23 23:08:26 -05:00
Tristan McGinnis
35208150ef
remove command send for perform_ik
2025-07-23 23:08:26 -05:00
Tristan McGinnis
fb699984b9
Removing print statements from anchor and core to clean up output
2025-07-23 23:08:12 -05:00
Tristan McGinnis
2eb3c796ec
Doing testing for performance
2025-07-23 23:07:56 -05:00
Tristan McGinnis
da939cc381
No publishing controls, to view debug output
2025-07-23 23:07:23 -05:00
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
