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UbiquityRobotics / ubiquity_motor

Package that provides a ROS interface for the motors in UbiquityRobotics robots
BSD 3-Clause "New" or "Revised" License
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Fix wheel direction issues #100

Closed mjstn closed 3 years ago

mjstn commented 3 years ago

Purpose Of This Pull Request

1) Add support for setting that v38 firmware adds which is to make wheels go in reverse direction. This is used of the wheels themselves rotate in opposite direction from our standard wheels they can still be used.

2) Add realtime visibility for the key PID parameters into /diagnostics topic and better logs for when they change be in rosout.log

3) Enhance test_motor_board.py script also adds support for wheel direction and a new command of 'O' which will decode option bits, one of which is wheel direction, and make the tool easier to read the options that show up as bits in HW_OPTIONS register. A reg dump is also added.

mjstn commented 3 years ago

Due to recent events at a customer and this review not ready for other things I am piggybacking a much needed visibility into PID parameters where we can see current PID parameters in /diagnostics and also there are better, more grepable, logs in ROS log to make all PID parameters visible there as they change (perhaps from dynamic config). Sorry for making it more complex but this is important for issues going on now with a key customer.