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PalouseRobosub / robosub

Code for the computer on the sub
GNU General Public License v3.0
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Pneumatic Arduino Code #234

Open irwineffect opened 7 years ago

irwineffect commented 7 years ago

Introduction

This is going to be an arduino-based node that actuates our pneumatics to fire torpedoes and drop markers. It should use the ROS services API. Need to talk to the mechanical engineers to ask them how to actuate the pneumatics to move the mechanisms.

Service Names

fire_torpedo/left - std_srvs/Trigger fire_torpedo/right - std_srvs/Trigger fire_torpedo_status - robosub/pneumatic_status drop_marker/left - std_srvs/Trigger drop_marker/right - std_srvs/Trigger drop_marker_status - robosub/pneumatic_status

Parameters

Exact parameter naming is tbd, but they will be describing which of the pnematics perform which action. For example pn1 might be used to open the marker dropper, and pn5 might be used to reset the marker dropper mechanism.

skallaher commented 7 years ago

Since there are two marker dropper mechanisms, shouldn't there be two services? One for left and one for right?

It also might be a good idea to have a way to determine the status of each so that the AI doesn't have to guess if it has already fired a torpedo. This could be a service call as well.

irwineffect commented 7 years ago

Agreed, updated the description!

bkallaher commented 7 years ago

see #236 for the addition of the tbd service.