search

UbiquityRobotics / ubiquity_motor

Package that provides a ROS interface for the motors in UbiquityRobotics robots
BSD 3-Clause "New" or "Revised" License
24 stars 23 forks source link

Fix wheel slip overheat1 #111

Closed mjstn closed 3 years ago

mjstn commented 3 years ago

This is badly needed new high torque wheel modes for key customer.
by default this change does not go to the MCB PID control register because base.yaml does not have definition for those bits for main customers. The key customer pid_control value s in base.yaml should be 512 to activate this best mode so far.

mjstn commented 3 years ago

A review is requested but before this can merge to main for magni platform we need to have test group test this more on a real magni to verify compatibility. Many changes here were done for a 4WD robot and we must be sure these still work fine on a standard Magni product base.

mjstn commented 3 years ago

WARNING! This totally blows up on a magni!!!!! DO NOT MERGE THIS!!!!! Just do review and mention any findings. Thanks. I will point out that current top of tree master does work GREAT with v39. I think I must pull in changes to current top of master tree then ask for review.