Code

Arm Firmware Master PR#431

Code

Open

TateKolton wants to merge 124 commits intoUBC-Snowbots:masterUBC-Snowbots/Snowflake:masterfrom TateKolton:teensy-driver-tateTateKolton/Snowflake:teensy-driver-tateCopy head branch name to clipboard

+5,177-160

Commits

Commits on Aug 1, 2022

• Initialized arm driver node

  

  ihsan314

  authored and

  TateKolton

  committed
  3c1d9ee

• initialize teensy based code

  

  ihsan314

  authored and

  TateKolton

  committed
  d65d4de

• Add xbox-switch switching logic and complete initialization of teensy

  

  ihsan314

  authored and

  TateKolton

  committed
  038c531

• Add mode to procontroller_snowbots package

  

  ihsan314

  authored and

  TateKolton

  committed
  c95f8b5

• Remove starter code

  

  ihsan314

  authored and

  TateKolton

  committed
  e88ca50

• fix compiler errors

  

  ihsan314

  authored and

  TateKolton

  committed
  0ce27e3

• Draft ros_control based hardware interface exposing PointJointInterface

  

  ihsan314

  authored and

  TateKolton

  committed
  1d72c28

• Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node

  TateKolton

  committed
  15b92bf

• added files for subscriber side of arm teensy interface

  TateKolton

  committed
  f406bc7

• Created subscriber side of pro to teensy communication. Ihsan to fill out rosserial APIs to send strings to teensy

  TateKolton

  committed
  7c100a8

• teensy driver and firmware progress

  TateKolton

  committed
  348dc9e

• Add libserial code to arm_hardware_driver node

  

  ihsan314

  authored and

  TateKolton

  committed
  b8c52e4

• Add CmakeLists and package.xml

  

  ihsan314

  authored and

  TateKolton

  committed
  bb780dc

• xbox mode implementation and hardware interface beginning

  TateKolton

  committed
  f2e729a

• updated teensy firmware to account for differential wrist joint

  TateKolton

  committed
  0600cef

• progress:

  TateKolton

  committed
  22d02a4

• Add ability to toggle usage of MoveIt

  

  ihsan314

  authored and

  TateKolton

  committed
  27f0e00

• Sketch communication between hardware driver & interface

  

  ihsan314

  authored and

  TateKolton

  committed
  5ed1701

• Resolve compiler errors asides from serial communication issues

  

  ihsan314

  authored and

  TateKolton

  committed
  0107bc6

• added HW interface / driver pub/sub implementations for communication with board

  TateKolton

  committed
  b591f3b

• updated force feedback flow

  TateKolton

  committed
  ccbf09d

• updated force feedback flow

  TateKolton

  committed
  530d4ac

• updated teensy firmware to fix compiler errors, restructured joint position sending while in joint mode

  TateKolton

  committed
  9c6e285

• Populate and receive vector in sb_msgs/ArmPosition message

  

  ihsan314

  authored and

  TateKolton

  committed
  4bce86c

• adjusted arm motion parameters

  TateKolton

  committed
  18e731a

• fixed bug

  TateKolton

  committed
  447675c

• Resolve compilation errors

  

  ihsan314

  authored and

  TateKolton

  committed
  f861477

• fixed pro controller error and caught a few bugs in hardware driver

  TateKolton

  committed
  01fedbc

• ihsan fix

  TateKolton

  committed
  61b6cd0

• functioning firmware for axes 1-4

  TateKolton

  committed
  76eec63

• fixed hardware driver bug

  TateKolton

  committed
  84a7eea

• changes made for debugging

  TateKolton

  committed
  5fb0257

• Change termination condition

  TateKolton

  committed
  2e25c41

• Add missing else condition to prevent segfault

  TateKolton

  committed
  7d34b79

• Fix install script

  TateKolton

  committed
  a2502c9

• Resolve compilation errors

  TateKolton

  committed
  83ce2b7

Commits on Aug 2, 2022

• Clean up arm hardware interface code and add position limits to config file

  TateKolton

  committed
  0ae28dc

• Resize encPos vector

  TateKolton

  committed
  191044e

Commits on Aug 3, 2022

• Experiment with new launch file and parameters

  TateKolton

  committed
  d625aec

• Add config files to hardware interface package

  TateKolton

  committed
  ac3c13f

• Load arm urdf in launch file

  TateKolton

  committed
  c997924

• Add modified demo.launch file and named it experiment.launch

  TateKolton

  committed
  7cc414d

• Fix config files and launch file

  TateKolton

  committed
  4e920cd

• added automatic planning and execution based on timer event

  TateKolton

  committed
  65d5904

• Adjust parameters in yaml config files again

  TateKolton

  committed
  05c1a30

Commits on Aug 4, 2022

• Add timerEvent parameter to timer callback

  TateKolton

  committed
  8ee43f3

• Adjust *.yaml and launch files again

  TateKolton

  committed
  5c0c141

• Add ROS_INFO and remove extra joint_state_controller

  TateKolton

  committed
  619d1a8

• Upload CMakeLists.txt and package.xml to git

  TateKolton

  committed
  95238bd

• Adjust yaml and launch files to get moveit plans to execute

  TateKolton

  committed
  b1589de

Commits on Aug 6, 2022

• final adjustments to speed settings

  TateKolton

  committed
  a2a1fa9

• Apply debugging fixes from Adam

  TateKolton

  committed
  58d7a1b

• Remove comments on driver to hardware interface communication

  TateKolton

  committed
  ba29608

• Add joint limits, fix encoder equation, comment out timer function

  TateKolton

  committed
  53ae72e

• fw changes

  TateKolton

  committed
  aee6be5

• update

  TateKolton

  committed
  e5aac78

• Only execute timer function when in cartesian mode

  TateKolton

  committed
  65c7f8a

• Fix mapping of wrist button presses

  TateKolton

  committed
  c55f30a

Commits on Aug 7, 2022

• Remove joint offsets

  TateKolton

  committed
  2098539

• test

  TateKolton

  committed
  f1661bf

• added encoder fix

  TateKolton

  committed
  16c22ee

• added open loop encoder feedback

  TateKolton

  committed
  c19802a

• progress

  TateKolton

  committed
  ba02d3c

• Fix position, velocity, and acceleration limits

  TateKolton

  committed
  7b3902d

• Invert controller buttons for wrist control and remove overwritten joint positions

  TateKolton

  committed
  f4bf43c

Commits on Aug 8, 2022

• Close communication loop between driver and interface

  TateKolton

  committed
  f2a766a

• added end effector firmware, removed ros_info from driver to clean up the terminal, added serialOpen bool to ensure no double commands sent to teensy

  TateKolton

  committed
  113884d

• added end effector firmware, removed ros_info from driver to clean up the terminal, added serialOpen bool to ensure no double commands sent to teensy-quickfix

  TateKolton

  committed
  2cca40e

• added simplified drill mode implementation

  TateKolton

  committed
  7aaf37d

• added DRIVER INITIATED position and end effector force feedback based on a timer

  TateKolton

  committed
  a237fab

• updated joint limits to reflect actual arm

  TateKolton

  committed
  96ea969

• added functions to header file and updated HW interface for tolerance checking

  TateKolton

  committed
  078b11a

• ensured that homing blocks serial comm from callbacks/joy controller

  TateKolton

  committed
  90b67fc

Commits on Aug 9, 2022

• Resolve compilation errors

  TateKolton

  committed
  0ae6f33

• Fix timing logic for joint space mode

  TateKolton

  committed
  3bb62b3

• wrist axes inversion

  TateKolton

  committed
  c93606d

• testing

  TateKolton

  committed
  88d6bf0

• evening-fix

  TateKolton

  committed
  da1a73b

• removed send current position after homing

  TateKolton

  committed
  b1b14bf

• fixes for HW interface and firmware

  TateKolton

  committed
  f8fe037

• tuesday morning fixes

  TateKolton

  committed
  bed7962

Commits on Aug 10, 2022

• Remove checks for serial flags

  TateKolton

  committed
  70c339a

• teensy-firmware-updated

  TateKolton

  committed
  9627af7

• added end effector homing button for cartesian/JP modes

  TateKolton

  committed
  d3b05cd

• evening commit 2

  TateKolton

  committed
  072ec50

• prog1

  TateKolton

  committed
  6779cbb

• added move group interface for joint space mode

  TateKolton

  committed
  ecfee27

• added move group execution based on mode switching

  TateKolton

  committed
  bcd43ce

• fixed firmwrae directional problem when switching back to joint mode:

  TateKolton

  committed
  61dc301

• Invert controller axes in wheel mode and make speed adjustable (UBC-Snowbots#421)

  Show description for b55b169
  

  ihsan314

  and

  TateKolton

  committed
  b55b169

• Add ROS driver for Piksi gps module (UBC-Snowbots#416)

  Show description for 87a6ea5
  

  Roozki

  authored and

  TateKolton

  committed
  87a6ea5

• Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node

  TateKolton

  committed
  4df1fd3

• teensy driver and firmware progress

  TateKolton

  committed
  0c3aa83

• xbox mode implementation and hardware interface beginning

  TateKolton

  committed
  5fab82e

• Add ability to toggle usage of MoveIt

  

  ihsan314

  authored and

  TateKolton

  committed
  784c10e

• Fix install script

  TateKolton

  committed
  a5188ba

• Resolve compiler errors

  TateKolton

  committed
  dd31298

• Remove armFirmware.cpp from messy rebase

  TateKolton

  committed
  79b890f

Commits on Aug 13, 2022

• Controller deadzone increase, wheel speed reduction, temporary removal of move groups

  TateKolton

  committed
  0214ed3

• Adjust timer and serial communication settings

  TateKolton

  committed
  a9bc530

• comp day 1 working FW

  TateKolton

  committed
  406ffd0

• comp day 2 working code

  TateKolton

  committed
  7715d1c

Commits on Aug 14, 2022

• night 2 working code, updated home position

  TateKolton

  committed
  9e6caf6

• Add udev rules for teensy to install script

  TateKolton

  committed
  1265271

• eirasnt

  

  Roozki

  authored and

  TateKolton

  committed
  c2d57c4

• Remove cartesian/drilling mode

  TateKolton

  committed
  200211e

• EXPERIMENTAL: changed axes for rowan's convenience

  TateKolton

  committed
  930806a

Commits on Aug 15, 2022

• comp night 3 experimental commit

  TateKolton

  committed
  e256760

• Add ROS driver for Piksi gps module (UBC-Snowbots#416)

  Show description for 180df5c
  

  Roozki

  authored and

  TateKolton

  committed
  180df5c

• Arcu detection (UBC-Snowbots#419)

  Show description for 6bfea4c
  

  2 peopleauthored and

  TateKolton

  committed
  6bfea4c

• Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node

  TateKolton

  committed
  4b9cbd7

• teensy driver and firmware progress

  TateKolton

  committed
  a7a8100

• xbox mode implementation and hardware interface beginning

  TateKolton

  committed
  196706f

• Add ability to toggle usage of MoveIt

  

  ihsan314

  authored and

  TateKolton

  committed
  c7a3921

• Fix install script

  TateKolton

  committed
  2156e34

• Invert controller axes in wheel mode and make speed adjustable (UBC-Snowbots#421)

  Show description for f33485f
  

  ihsan314

  and

  TateKolton

  committed
  f33485f

• Add ROS driver for Piksi gps module (UBC-Snowbots#416)

  Show description for eefc191
  

  Roozki

  authored and

  TateKolton

  committed
  eefc191

• Fix topic subscription in markers

  TateKolton

  committed
  c76f3bd

• Resolve compile errors from rebasing

  TateKolton

  committed
  4040f36

• stash

  TateKolton

  committed
  5ee6f43

• update

  TateKolton

  committed
  6a7c03c

Commits on Aug 23, 2022

• competition-firmware

  TateKolton

  committed
  02adb0a

Commits on Aug 28, 2022

• Fix left joystick logic and modularize deadzone

  

  TateKolton

  authored and

  ihsan314

  committed
  aa4283a

• Controller improvements in deadzone and wheel speed

  

  TateKolton

  authored and

  ihsan314

  committed
  0376620