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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 #97

Closed mjstn closed 3 years ago

mjstn commented 3 years ago

This is the host side support for fix of every 15 sec short speed dropout. Refer to: https://github.com/UbiquityRobotics/avalon/issues/24

This also adds a wheel speed reversal feature new to v38 firmware

rohbotics commented 3 years ago

Is this ready for review? It still uses a bunch of the controllerLooprate sleeps, so it will cause a bunch of problems right?

mjstn commented 3 years ago

This is now ready for review. I should have thought about that bit of cleanup use the same mechanism for all the earlier messages. The general idea is we make a system that deals with avoiding overruns. This code today is to avoid a situation we knew was leading to issues. Also this code adds some small enhancement to allow for checking up on the MCB state by the host code.

mjstn commented 3 years ago

Will do pull request again after merge from master seems in order.