Open ShaneRozenLevy opened 1 year ago
@jdcaporale @ethanmusser Took a stab at what adding support for the power dist board would look like. Thoughts?
Good start thous. Looks like a good place to start. A lot of this lowest level work has similar names in different namespaces/classes, so keep that in mind when you try to follow the thread of logic. Id/bus should be used to distinguish Peripherals from actuators, not sure where or how exactly it knows what to look for. Maybe check a vector of soon-to-be-built MJBotsCANPeripherals
?
Most of our robots have a power distribution board on them, yet we don't have the c++ code to communicate with it. This issue details how we might go about it.
At a high level I propose an implementation that looks something between how we handle imu data and how we communicate with the moteus
pi3hat_moteus_interface
to something better.mjbots_hardware_interface
pi3hat_moteus_interface::Data
to include data for the power dist boardmoteus_protocol
for the power dist boardpi3hat.cpp
should handle the low level communicationmjbots_hardware_interface::ProcessReply()
andmjbots_hardware_interface::SendCommand()