Working MC code merge (12-8-2021) - Githubissues

PlanetaryRobotics / IrisRoverPackage

Complete software package for the Iris Lunar Rover (CMU).

GNU General Public License v3.0

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Working MC code merge (12-8-2021) #66

Closed SchwartzCode closed 2 years ago

SchwartzCode commented 2 years ago

Confirmed working (tested with Alec):

motor driving and convergence in closed and open loop
Hercules can communicate with motors over i2c (w is Herc writing to msp, r is Herc reading from msp)
- w target positions
- w target speeds
- w control_register (has execute command bit to tell motors to go)
- r status_register (has bit to indicate convergence of motor)
sending successive commands from fprime/navigation to all motors

Known issues:

100ms delay in motor controller i2c transmit, otherwise Hercules wouldn't receive the message (??? didn't need this before)
i2c bus sometimes hangs and herc gets stuck waiting for message from MSP (seems like above bullet is a band aid that doesnt always fix the issue)

Notes

driverlib folder is a library of utility functions, that wasn't written by anyone on iris