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Grip control #86

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Merged
jujuz455 merged 1 commit into from
Apr 16, 2026
Merged

Grip control #86

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29 changes: 20 additions & 9 deletions src/HW-Devices/ros_phoenix_humble/include/ros_phoenix/phoenix_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,10 @@
#include "ros_phoenix/base_node.hpp"

#define Phoenix_No_WPI // remove WPI dependencies
#include "ctre/Phoenix.h"
#include <chrono>
#include <stdexcept>

#include "ctre/Phoenix.h"
#include <type_traits>

using namespace rclcpp;
using namespace std::chrono_literals;
Expand Down Expand Up @@ -68,17 +68,28 @@ class PhoenixNode : public BaseNode {
// CTRE library expects velocity in units/100ms
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@ConnorNeed ConnorNeed Apr 15, 2026

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I would leave this comment where it was

this->controller_->Set(mode, control_msg->value / 10.0 /
this->sensor_multiplier_);
} else if (mode == ControlMode::Position) {
return;
}
if (mode == ControlMode::Position) {
this->controller_->Set(mode, (this->sensor_offset_ + control_msg->value) /
this->sensor_multiplier_);
} else if (mode == ControlMode::PercentOutput ||
mode == ControlMode::Disabled) {
return;
}
if (mode == ControlMode::PercentOutput || mode == ControlMode::Disabled) {
this->controller_->Set(mode, control_msg->value);
} else {
this->controller_->Set(ControlMode::Disabled, 0.0);
RCLCPP_WARN(this->get_logger(), "Invalid control mode: %d",
static_cast<int>(mode));
return;
}
if constexpr (!std::is_same_v<
MotorController,
ctre::phoenix::motorcontrol::can::VictorSPX>) {
if (mode == ControlMode::Current) {
this->controller_->Set(mode, control_msg->value);
return;
}
}
this->controller_->Set(ControlMode::Disabled, 0.0);
RCLCPP_WARN(this->get_logger(), "Invalid control mode: %d",
static_cast<int>(mode));
}

virtual rcl_interfaces::msg::SetParametersResult
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