Account for motor RPM limits when publishing Arduino - Githubissues

5yler / metatron

Autonomous Power Racing Series Racecar - ROS Metapackage

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Account for motor RPM limits when publishing Arduino #4

Open 5yler opened 7 years ago

5yler commented 7 years ago

Right now, the arduino_drive_controller node directly converts desired wheel velocities into motor RPM without accounting for motor RPM limits:

      cmd_msg_.rpm_left = msg->vel_left / (_rpm_to_vel * _gear_ratio);
      cmd_msg_.rpm_right = msg->vel_right / (_rpm_to_vel * _gear_ratio);

Tasks

[ ] determine maximum motor RPM
- [x] Kilotron
- [ ] Gigatron
[ ] save maximum RPM values into gigatron_hardware/config/<CAR>_platform.yaml as a new max_motor_rpm parameter
[x] modify arduino_drive_controller to read in the new parameter
[ ] add logic to clip the commands at the motor RPM range limits

spohorec commented 7 years ago

Added max_motor_rpm to kilotron_platform (200) but not gigatron_hardware