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clubcapra / markhor

🐐 Capra-Markhor is a ROS-based solution for managing and operating Club Capra's second rescue robot. 🐐
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Upgraded Gearset for Enhanced Torque and Flipper Motor Inversion #54

Closed benmalenfant closed 1 year ago

benmalenfant commented 1 year ago

Needed changes after motor swap and flipper gearbox reconfiguration, we swapped a 4:1 gearset to a 5:1 to get more torque

Leuchak commented 1 year ago

What does rear_right_drive->SetInverted(true); do? why is it necessary? does it have side effects? (like #47) What does rear_right_drive->SetSensorPhase(true); do and how is it related to the gearset swap?

If it's related, you can document the reason for the change in the description. Otherwise, I'd prefer the changes to be reverted and then added in another pull request that explains the reason for the change.

It is important that each pull request addresses a single bug or adds a single feature. The changes will be saved in Git, and we currently lack an explanation for the rationale behind the change.

By rereading the code and browsing the GIT history, I had difficulty in determining the rationale for certain lines of code. We even need to change some code without knowing why (in ovis). I am not specifically referring to markhor, but rather to our other repositories in general. Like https://github.com/clubcapra/ovis/issues/41

I just saw the change in the title. I'd like the description to mention the inversion of the flipper's motor. If its not related, it should be in another pull request.