Conversation
| } | ||
| } | ||
|
|
||
| void ArmSerial::send_position_command(float pos[NUM_JOINTS]) { |
There was a problem hiding this comment.
how does pos[] get to target positions and the can frame? looks like we are missing something?
|
|
||
| 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) |
There was a problem hiding this comment.
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
There was a problem hiding this comment.
so yeah try to add both targets, maybe moteus_arm_driver and serial_arm_driver
|
|
||
| #define PI 3.14159 | ||
|
|
||
| ArmSerial::ArmSerial() : Node("ArmSerialDriver") { |
There was a problem hiding this comment.
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"] |
There was a problem hiding this comment.
looks good, did you use git submodule add for this (like git commands) or manually edit the file?
There was a problem hiding this comment.
manually editing this doesn't work for me, afaik there are more files git changes when you add via the command line
|
|
||
| target_compile_definitions(moteus_arm_driver | ||
| PRIVATE | ||
| BUILDING_NEW_DRIVER=1 |
There was a problem hiding this comment.
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 | ||
|
|
||
| #ifdef BUILDING_NEW_DRIVER | ||
| std::map<int, std::shared_ptr<moteus::Controller>> controllers; |
There was a problem hiding this comment.
should moteus stuff be in the serial driver? i thought serial driver was purely for old arm
| import numpy as np | ||
|
|
||
|
|
||
| def quat_mul(q, r): |
There was a problem hiding this comment.
is this something you added @jodhsinghnahal ? arman may be working on the same branch by accident..?
|
Closing because duplicate with #94 |
3 participants
No description provided.