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Start of new dev branch for ongoing gazebosim work #86

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1 change: 0 additions & 1 deletion .../gazebo_frcrobot_control/include/gazebo_frcrobot_control/gazebo_frcrobot_control_plugin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,6 @@
Modified to allow multiple RobotHWSim instaces, each with their own controller manager
*/

#include <optional>
// ROS
#include <ros/ros.h>
#include <pluginlib/class_loader.h>
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17 changes: 9 additions & 8 deletions zebROS_ws/src/ros_control_boilerplate/config/2023_compbot_base_jetson.yaml
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Expand Up @@ -43,18 +43,19 @@ hardware_interface:
- {name: bl_drive, type: talonfxpro, can_bus: CANivore, can_id: 23, local: true}
- {name: bl_angle, type: talonfxpro, can_bus: CANivore, can_id: 13, local: true}

- {name: elevator_leader, type: talonfxpro, can_bus: CANivore, can_id: 31, local: true}
- {name: elevator_follower, type: talonfxpro, can_bus: CANivore, can_id: 32, local: true}
- {name: four_bar, type: talonfxpro, can_bus: CANivore, can_id: 41, local: true}
#- {name: elevator_leader, type: talonfxpro, can_bus: CANivore, can_id: 31, local: true}
#- {name: elevator_follower, type: talonfxpro, can_bus: CANivore, can_id: 32, local: true}
# DO NOT MERGE THIS IN COMMENTED
#- {name: four_bar, type: talonfxpro, can_bus: CANivore, can_id: 41, local: true}

- {name: intake, type: talonfxpro, can_bus: CANivore, can_id: 51, local: true}
#- {name: intake, type: talonfxpro, can_bus: CANivore, can_id: 51, local: true}

#- {name: pcm, type: pcm, pcm_id: 0}
- {name: pigeon2, type: pigeon2, frame_id: pigeon2_frame, can_bus: CANivore, can_id: 0, local: true}
#- {name: pigeon2, type: pigeon2, frame_id: pigeon2_frame, can_bus: CANivore, can_id: 0, local: true}

- {name: candle1, can_id: 0, can_bus: CANivore, type: candle, local: true}
#- {name: candle1, can_id: 0, can_bus: CANivore, type: candle, local: true}

- {name: babys_first_orchestra, type: orchestra, id: 1}
#- {name: babys_first_orchestra, type: orchestra, id: 1}

- {name: robot_code_ready_jetson, local: true, type: ready}
- {name: robot_code_ready_rio, local: false, type: ready} # Probably not really needed?
Expand All @@ -78,7 +79,7 @@ intake_talonfxpro_controller:
joint: intake
invert: counterclockwise_positive
dynamic_reconfigure: True
neutral_mode: Coast
neutral_mode: Coast # TODO - probably want brake mode here?

# This one creates the /talon_states topic necessary in ROS
# It doesn't actually control anything, just takes the internal
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8 changes: 7 additions & 1 deletion zebROS_ws/src/ros_control_boilerplate/config/2023_swerve_drive_phoenix6.yaml
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Expand Up @@ -27,6 +27,8 @@ swerve_drive_controller:
f_a: 0.005
f_v: 0.0379

# Inverts work for sim and will likely break reality

# TODO : move this into sensor_to_mechanism_ratio for Falcons
ratio_encoder_to_rotations: 0.148148148 # Test me, will show up in odom results

Expand All @@ -44,6 +46,7 @@ swerve_drive_controller:
use_cos_scaling: True # scale motor speed by how close angle motors are to setpoints
speed_joint_fl:
joint: fl_drive
invert: clockwise_positive
close_loop_values:
- {kP: 1.00, kI: 0.0, kD: 0.0, kV: 0.125, kS: 0.0}
#current_limit_continuous_amps: 15
Expand All @@ -58,6 +61,7 @@ swerve_drive_controller:
#neutral_deadband: 0.01
speed_joint_fr:
joint: fr_drive
invert: counterclockwise_positive
close_loop_values:
- {kP: 1.00, kI: 0.0, kD: 0.0, kV: 0.125, kS: 0.0}
#current_limit_continuous_amps: 15
Expand All @@ -72,6 +76,7 @@ swerve_drive_controller:
#neutral_deadband: 0.01
speed_joint_bl:
joint: bl_drive
invert: clockwise_positive
close_loop_values:
- {kP: 1.00, kI: 0.0, kD: 0.0, kV: 0.125, kS: 0.0}
#feedback_type: IntegratedSensor
Expand All @@ -87,6 +92,7 @@ swerve_drive_controller:
#neutral_deadband: 0.01
speed_joint_br:
joint: br_drive
invert: counterclockwise_positive
close_loop_values:
- {kP: 1.00, kI: 0.0, kD: 0.0, kV: 0.125, kS: 0.0}
#feedback_type: IntegratedSensor
Expand Down Expand Up @@ -166,7 +172,7 @@ swerve_angle_phoenix6_controller:
remote_feedback_device_id0: 13
#neutral_deadband: 0.01
close_loop_values:
- {kP: 80, kI: 0.000, kD: 0.0, kV: 2.85, kS: 0}
- {kP: 8000, kI: 0.000, kD: 0.0, kV: 2.85, kS: 0}
invert: clockwise_positive
neutral_deadband: 0.01
motion_magic_cruise_velocity: 5.0
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