Vcu update #129
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Vcu update #129
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1. Update steer & vel tuning constants to recent measured vals 2. Add auto-calculation of MAX & MIN signals for steer & vel - the result of this is to make safety thresholding in ackToCmd() functions more resilient to flipping the potentiometer. Safety thresholding code now compares MAX and MIN rather than HIGH and LOW. 3. Separate range conversion for velocity to match steering - the result of this change is to allow a centerpoint to be used that is not midway between the FWD and REV values - necessary now that the vehicle can move in reverse.
…op state while estop is true
… received topic as opposed to publishing on a 1-1 basis,\ncausing hysteresis runtime errors in the tractor on restart from estop.
1. Add custom DEBUG definitions to allow Header specification of which functions to debug. 2. Switch incoming ackermann msg to AckermannDriveStamped to monitor command latency. 3. Rearrange imports.
…src/gravl into lidarx_experiment
…vl into vcu-update
nathanestill
approved these changes
Mar 1, 2020
| // Initialize estop and auto-light switch | ||
| eStop = new Estop(&nh, ESTOP_SENSE_PIN, ESTOP_DEBOUNCE_TIME); | ||
| eStop->onStop(eStopTractor); | ||
| eStop->offStop(eStartTractor); | ||
| pinMode(ESTOP_RELAY_PIN, OUTPUT); | ||
| digitalWrite(ESTOP_RELAY_PIN, HIGH); // Stop tractor for safety |
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This is the only part that I'm curious of its functionality. I'm scared that it will have not be able to turn itself to high or something like that. Maybe you can reason it out to me on Tuesday.
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Wow, I merged the stuff on the tractor once I saw these changes approved, but never finished this pull request. Sorry Nathan, my bad. |
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Code tested on tractor