Roboclaw docs #2990
Roboclaw docs #2990
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@PerFrivik Can you ETA when you might be able to look at the fixes requested in #2990 (comment) ? Specifically images the PR adds that aren't used, and making the changes in the /en rather than /de path. I can then review this. |
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Sorry for the late reply, Ill try to finish it tomorrow (21.12). |
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Thanks very much. Appreciate you have competing priorities. As part of this could you add a release note into the |
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@hamishwillee would this driver be under the hardware support section regarding the release notes? |
Yes. But it isn't so important where it goes as that it is there (i.e. we might move things later) |
en/frames_rover/aion_r1.md
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| - If using several RoboClaw motor controllers, each can be assigned a unique address on the bus, with the default address being 128. | ||
| To set a different address, specify it in the [RBCLW_ADDRESS](../advanced_config/parameter_reference.md#RBCLW_ADDRESS) parameter. |
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This confuses me. If I have several motor controllers, and each must have its own address, how do I set them when I only have one parameter - RBCLW_ADDRESS?
FYI only, note that I do lots of cross linking, because it makes it easy to spot when people change the underlying implementations for parameters etc (since these often disappear).
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@MaEtUgR This is actually a good question. Perfect that we ordered a second roboclaw, I'll test this next week.
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So this looks good to me once this issue is resolved.
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@hamishwillee You are asking exactly the right questions. To clarify: You need the correct Roboclaw address in the transaction header even if you only have one ESC. It needs to be the same that you configured with the Roboclaw configuration tool before over USB directly. We currently only have one ESC in our vehicle. The reason I would not spend too much time investigating yet is that AFAIK we are so far the only Roboclaw users on PX4. The driver improvements and docs should facilitate other users to get using it and the Aion R1/R6.
Using multiple ESCs on one vehicle was never tested and we should make that clear. We won't invest time into doing that until we need the functionality e.g. to make a Mecanum wheel Rover where all wheels need a separate controller. We'd have the hardware parts for that but it's currently not the focus/priority.
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Thanks @MaEtUgR (and @PerFrivik ). So:
- Then we don't support multiple RoboClaw MCs, because there is only one param for setting the header sent by PX4. I have made this clear. Also noted that you should not have to change this, but if you do, then you must make the param match.
- I have added the information about Aion R6 to the intro too. I was wondering why we were using a discontinued frame. Helpful to be able to to day "this is still very useful".
I will merge, but if you have any issues with this change, please add a post PR to fix.
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Thank you @hamishwillee ! I appreciate the help on getting this in.
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No worries. It's pretty cool! Rover is much under loved.
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@PerFrivik Any chance of you looking at the questions here? (I assume you're on holiday, in which case, this is a reminder!) |
Thanks for the reminder Hamish! I am back now, will try to have this answered by this friday Jan 5. |
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No flaws found |
Docs for the roboclaw motor controller driver that I improved.