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billmania / roboquest_core

The backend functionality for the RoboQuest project
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Disable the damping on servo motion #25

Closed billmania closed 1 year ago

billmania commented 1 year ago

Disbled the RQServos._slow_motion() method so commands to move servos aren't damped. The servo motion is now as fast as the servo can move from its current position to the commanded position. Multiple commands to move a servo to a specific angle now function no differently than a single command.

Tested by starting rq_core and rq_ui, using the browser UI to enable the servos, and then using

ros2 topic pub /servos rq_msgs/msg/ServoAngles '"servos": [{"name": "camera_pan", "angle": 70}]'

to publish onto /servos. Also used rqt to watch for any error or complaints.

This is Issue #23