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errorcodexero / robotdev

Development repository for all new robot code and including older robot code
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Add motor current monitors to the software #26

Open sjcbulldog opened 6 years ago

sjcbulldog commented 6 years ago

Add motor current current monitors to the software to help detect motors that are not functioning correctly.

markkassab commented 6 years ago

The infrastructure to monitor motor currents and issue a warning in case of a violation has been checked into robots/common/helpers/motor_current_monitor.{h,cpp}. Need The parameters and thresholds need to be adjusted after integration and testing.

Reassigning to Matthew so he can call it from within the robot loop.

Read the comments in the .h file to see how to use it. You need to create one object for every group of lockstep motors.