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CU-Robosub / cusub

The CUSub repository
GNU General Public License v3.0
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Controller MUX #16

Closed belgiumkansas closed 5 years ago

belgiumkansas commented 5 years ago

We need a control MUX in for each of the drive, strafe loops to allow visual servoing. This sits between the control effort output of the loops and the Thruster Allocation Matrix.

DrYerzinia commented 5 years ago

This can be easily achieved with the topic_tools packages mux node. There are services for adding mux input as well as switching the active input. This allows the state machine to easily control the mode and add control loop sources.