Various improvements to control modes, Added in braking.#43
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sanjotbains wants to merge 25 commits intof1tenth:humblefrom
Open
Various improvements to control modes, Added in braking.#43sanjotbains wants to merge 25 commits intof1tenth:humblefrom
sanjotbains wants to merge 25 commits intof1tenth:humblefrom
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Using std::thread for rxThread
Add current control to vesc driver
Add current control to vesc driver
Fix if comparison.
Removed old code
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The port of this package to ROS2 omitted several features, including braking and acceleration based control.
I've added these back in with some changes, including a parametrized braking curve and early starting velocity smoothing to prevent stuttering.
This is best coupled with the updated motor configuration file, included herein, which has setup for the VESC's HFI capabilities.
The nested if-else statements could almost certainly be improved, but seems to work well enough.
The acceleration based control part is largely untested and does not allow for reverse, but this could be remedied pretty easily. I really do not recommend using this operation mode unless you know what you are doing RE figuring out how much current your car requires to accelerate.
For an example vesc.yaml, see this config folder.
If I have some time after graduation I'll improve the robustness/speed of the if-else stack and do some testing to see how the acceleration based portion works in real life.