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UofSSpaceTeam / rover-embedded

A place to work on embedded microcontroller software for the USST Rover Project
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Read arm joint positions #5

Closed ottopasuuna closed 7 years ago

ottopasuuna commented 8 years ago

We have some absolute position encoders that will read the position of the joints. The VESC's handle the low level stuff, we just need to get the values back to the rover.

ottopasuuna commented 7 years ago

Apparently Austin added this to PyVESC a while ago. The official bldc firmware spams the position from the main loop however, so I turned that off and added handling of the COMM_ROTOR_POSITION message to commands.c Seems to work great.