With new codebase for the CAN bus wheels, the arm control code needs to be rewritten. It is very messy right now, with a mix of code handling the logitech joystick, 3d mouse, and ps4 controller.
It will allow for the following control modes:
Wheel control
Arm control - forward kinematics (directly set each motor speed)
Arm control - IK
Ideally it would support multiple controllers:
Logitech joystick
PS4 controller
This new code should be composed of the following parts:
[ ] New message types for joy_mapper (#632)
There are two other nice to haves:
[ ] A joy_mapper node which listens to joystick messages and outputs to separate topics for different modes (#633)
[ ] arm_control, wheel_control nodes which receive values for the arm and wheel motors and send them to the motors (#636 )
[ ] absenc_node which receives absolute angle values and the control system to set motor angles in IK mode (#636)
[ ] IKNode which performs IK calculations (#636)
[x] Using a PID as control system for motors (#628)
With new codebase for the CAN bus wheels, the arm control code needs to be rewritten. It is very messy right now, with a mix of code handling the logitech joystick, 3d mouse, and ps4 controller. It will allow for the following control modes:
Ideally it would support multiple controllers:
This new code should be composed of the following parts: