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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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Use higher 4wd wheel slip threshold and warn of high rotational commands #146

Closed mjstn closed 2 years ago

mjstn commented 2 years ago

Two part change: 1) Simple change of the threshold we use to decide to null excess wheel torque and thus minimize wheel overheating. The logic is unchanged but the constant of WHEEL_SLIP_THRESHOLD. We will later get this into the form of a motor node ros param so it can be changed.

2) A warning message to debug a violent rotational mode we are seeing after startup.

mjstn commented 2 years ago

Only one reviewer is required. I put both on as it is weekend. This is a REQUIRED change for next MoonStar update