moteus arm control #71
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| void ArmSerial::send_position_command(float pos[NUM_JOINTS]) { |
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how does pos[] get to target positions and the can frame? looks like we are missing something?
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| add_executable(arm_serial_driver src/ArmSerialInterface.cpp include/ArmSerialInterface.h include/arm_hardware_interface/ArmSerialProtocol.h) | ||
| # For old and new arm | ||
| # add_executable(arm_serial_driver src/ArmSerialInterface.cpp include/ArmSerialInterface.h include/arm_hardware_interface/ArmSerialProtocol.h) |
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i like the idea of using the same class/header, but we should be able to compile both binaries so we don't need to edit a cmake file if we want to run the new arm vs the old arm
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so yeah try to add both targets, maybe moteus_arm_driver and serial_arm_driver
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| #define PI 3.14159 | ||
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| ArmSerial::ArmSerial() : Node("ArmSerialDriver") { |
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what would be best here is to make a base class that both the old arm driver and new arm driver use.
although this should still be fine because each node is it's own cmake target/binary and have seperate main()
| [submodule "src/external_pkgs/Catch2"] | ||
| path = src/external_pkgs/Catch2 | ||
| url = https://github.com/catchorg/Catch2.git | ||
| [submodule "src/arm_hardware_interface/moteus"] |
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looks good, did you use git submodule add for this (like git commands) or manually edit the file?
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manually editing this doesn't work for me, afaik there are more files git changes when you add via the command line
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| target_compile_definitions(moteus_arm_driver | ||
| PRIVATE | ||
| BUILDING_NEW_DRIVER=1 |
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ooo compile definitions. nice! this is better than just throwing a definition in a header
| serial::Timeout timeout_uart = serial::Timeout::simpleTimeout(1000); // E.g., 1000 ms or 1 second | ||
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| #ifdef BUILDING_NEW_DRIVER | ||
| std::map<int, std::shared_ptr<moteus::Controller>> controllers; |
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should moteus stuff be in the serial driver? i thought serial driver was purely for old arm
| import numpy as np | ||
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| def quat_mul(q, r): |
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is this something you added @jodhsinghnahal ? arman may be working on the same branch by accident..?
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Closing because duplicate with #94 |
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