David
8b8ff69c27
chore: update ros2_interfaces_pkg to v1.1
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No real difference, just made the PR and release
2025-10-09 22:11:29 -05:00
David
ebd07258f0
refactor: replace speed_mode with max_duty for core control
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Makes it make more sense
2025-10-09 16:19:34 -05:00
David
0e256c7d22
feat: add agpl-3.0-only license
2025-10-04 23:24:23 -05:00
David
b62060026c
style: minor edits based on riley's comments
2025-10-04 23:08:04 -05:00
David
924509b733
fix: add ptz back to rover_launch.py
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oopsies
2025-10-04 23:06:50 -05:00
David
36da0203bc
fix: make turning input curve less aggressive
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^2 instead of ^3. Not tested, hopefully makes it a lil better
2025-10-01 21:49:40 -05:00
David
87b2ab6f8c
fix!: remove bio from headless
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Slows down controls too much, going to need to figure something out for speeding that up
2025-10-01 11:18:31 -05:00
David
e5af28af3a
feat: add Core URDF with basic Gazebo sim
2025-09-30 17:49:01 -05:00
David
8c5287158d
fix: arm/bio headless works again
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I hate python
2025-09-30 11:56:05 -05:00
David
97fa17a4a8
feat: add bio to headless
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NOTE: UNTESTED
2025-09-29 11:34:35 -05:00
David
644459ec71
style: explain anchor topics in comment block
2025-09-29 11:09:05 -05:00
David
b1f4fe8320
refactor: change Core commands to VicCAN
2025-09-29 10:29:01 -05:00
David
a25983126f
refactor: move headless globals to class vars
2025-09-29 09:25:07 -05:00
David
647ff34fa5
feat: add rumble on headless mode switch (core/arm)
2025-09-29 09:16:43 -05:00
David
75d1a841bb
feat: add VicCAN topics to Core, sync Core with PDR
2025-09-28 19:30:40 -05:00
David
7992acf60f
feat: add VicCAN topics to Anchor
2025-09-28 19:22:56 -05:00
David
75fefa7048
fix: typo in latency tester
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Also bump package ver.
Finishes latency_tester for now, it is functional, now we just need to use it.
2025-09-26 16:11:49 -05:00
David
49b8acc860
feat: control wrist yaw and roll at same time
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Also made start_rosbag.sh actually executable ._.
2025-09-15 11:43:22 -05:00
David
00be1cef52
fix: make headless rumble stronger
2025-09-11 18:33:30 -05:00
David
660ceb560d
feat: populate motor status timestamps
2025-09-10 23:57:21 -05:00
David
5f8a4a0ca7
feat: add latency_tester to test comms latency
2025-09-10 23:00:40 -05:00
David
abcb9b9a4d
feat: fully add NewCoreFeedback to core_pkg, including REV pos/vel
2025-09-10 23:00:17 -05:00
David
858e03f385
feat: add rumble on headless ready, change turn to cubic
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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???
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Tested with controller but on Clucky
2025-09-10 22:46:27 -05:00
David
d5ba9ad721
feat: add speed and brake mode control
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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
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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
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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
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
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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
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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
