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DangerousElectrician / rosTalonSRX

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Develop ROS api #2

Open DangerousElectrician opened 8 years ago

DangerousElectrician commented 8 years ago

Need to send ros messages to the can_talon_srx node to control the motor

DangerousElectrician commented 8 years ago

http://wiki.ros.org/roboteq_driver http://wiki.ros.org/Motor%20Controller%20Drivers

Existing motor controller nodes

DangerousElectrician commented 8 years ago

Talon srx transmits 4 status frames periodically General Status 10ms Feedback Status 20ms Quadrature Encoder Status 100ms Analog Status 100ms

DangerousElectrician commented 8 years ago

Dynamixel node uses services to send commands to the motor and messages for motor state. roboteq node uses messages for both motor state and motor control. Roboteq node has fewer settings than Dynamixel.

Using services to control talon. Talon has lots of settings.

DangerousElectrician commented 8 years ago

Maybe use lots of messages containing single values.

DangerousElectrician commented 8 years ago

Control of talon srx is implemented as a bunch of messages can_talon_srx subscribes to.

DangerousElectrician commented 8 years ago

talon status is published in a single message containing all unsolicited values. The way I implemented FRC_NetworkCommunication_CANSessionMux_receiveMessage is too slow.