Robot_drivers

Robot_drivers

This package defines the nodes and classes that interface to the embedded controllers of the 2018 robot(s). This year's robot has three different robotic platforms. Consequently, this package has three different sets of nodes dedicated to controlling each one.

Robot Drivers

This section lists out the control and sensing points of each robot. These are the components that must be handled by the robot drivers.

Sensor Tower

Controlled Joints

• Drive wheels x4
• Lift actuators x2
• Tilt actuators x2

Sensed Joints

• Drive shafts x4
• Arm base joint
• Arm end joint

Sensors

• rear IR sensor
• platform IR sensor

Digger

Controlled Joints

• Drive wheels x4
• Arm primary actuators x2
• Arm secondary actuators x2
• Digging motor

Sensed Joints

• Drive shafts x4
• Arm primary joint
• Arm secondary joint
• Digging shaft

Sensors

• minibot dock IR sensor

Minibot(s)

Controlled Joints

• Drive motors x4

Sensed Joints

• Drive shafts x4

Sensors