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macrobomastercontrolteam / Task_Board

Board of all tasks for control team
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Implement hip control for swerve chassis #19

Closed GJSK-Novice closed 1 week ago

GJSK-Novice commented 1 month ago

We added four hip motors (Ktech 6012) to the swerve chassis. Integrate it onto our chassis movement control.

The direction of steering motors and speed of drive motors shall be consistent to the speed of hip motors. We can achieve it by adding velocity contributed by hip to the existing velocity vector.

GJSK-Novice commented 1 month ago

Task Board Link: https://github.com/macrobomastercontrolteam/Task_Board/issues/19 Upper board PR Link: https://github.com/macrobomastercontrolteam/Infantry_Common/pull/54 Lower board PR Link: https://github.com/macrobomastercontrolteam/Infantry_3_4Steer/pull/10