Collect input and then publish a combined Arm command (set_motor_speeds p p p p p p) that allows for controlling different motors without effecting each other.
Current situation:
publishing a command for a certain motor implies that all other motors shall not move. This happens because button input is mapped to an Arm command with a default value of 0 (no movement) except the motor in question. This means if two buttons, for two different motors, are pressed, both motors will try to move but also stop the other motor from moving.
Success criteria
Being able to move multiple Arm motors at the same time using a controller by pressing buttons or moving joysticks.
UX
User should find it easy to control the Arm and switch between different layouts to perform basic Arm movement actions sussccefully.
Collect input and then publish a combined Arm command (set_motor_speeds p p p p p p) that allows for controlling different motors without effecting each other.
Current situation:
publishing a command for a certain motor implies that all other motors shall not move. This happens because button input is mapped to an Arm command with a default value of 0 (no movement) except the motor in question. This means if two buttons, for two different motors, are pressed, both motors will try to move but also stop the other motor from moving.
Success criteria
Being able to move multiple Arm motors at the same time using a controller by pressing buttons or moving joysticks.
UX
User should find it easy to control the Arm and switch between different layouts to perform basic Arm movement actions sussccefully.