fix servo sensing calculation - Githubissues

sbgisen / vesc

VESC Interface for ROS

Apache License 2.0

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fix servo sensing calculation #58

Closed jsupratman13 closed 1 year ago

jsupratman13 commented 1 year ago

Change Summary

Probably resolve #42
resolve #53
resolve #56
resolve #59
Fix the unit conversion from sensor data and adjust the units for each joint type.
Replace the static variable with members to avoid the thread-sharing bug

Details

Impacts

Probably need to set the proper parameters and tune PID gain again.

References

Additional Information

Note that this only fixes the sensor calculation and, to an extent, the calibration process.
This is tested with PRISMATIC joints since we use this often with vesc.
REVOLUTION joint is untested. There is still a lot of work needed to be done with this joint type which, if I have time, will be worked on in later PRs.