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Mecanum rover: add dedicated module for mecanum rovers (#23708)

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chfriedrich98
2024-09-25 09:35:41 +02:00
committed by GitHub
parent 43509b5cff
commit 0e65679c9e
33 changed files with 1677 additions and 5 deletions
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src/modules/control_allocator/module.yaml
+19 -4
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@@ -30,6 +30,7 @@ parameters:
10: Helicopter (tail ESC)
11: Helicopter (tail Servo)
12: Helicopter (Coaxial)
13: Rover (Mecanum)
default: 0
CA_METHOD:
@@ -950,11 +951,11 @@ mixer:
- actuator_type: 'motor'
instances:
- name: 'Throttle'
position: [ -1., 0, 0 ]
position: [ -1, 0, 0 ]
- actuator_type: 'servo'
instances:
- name: 'Steering'
position: [ 1., 0, 0 ]
position: [ 1, 0, 0 ]
6: # Rover (Differential)
title: 'Rover (Differential)'
@@ -962,9 +963,9 @@ mixer:
- actuator_type: 'motor'
instances:
- name: 'Right Motor'
position: [ 0, 1., 0 ]
position: [ 0, 1, 0 ]
- name: 'Left Motor'
position: [ 0, -1., 0 ]
position: [ 0, -1, 0 ]
7: # Motors (6DOF)
actuators:
@@ -1140,3 +1141,17 @@ mixer:
parameters:
- label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME
13: # Rover (Mecanum)
title: 'Rover (Mecanum)'
actuators:
- actuator_type: 'motor'
instances:
- name: 'Right Motor Front'
position: [ 1, 1, 0 ]
- name: 'Left Motor Front'
position: [ 1, -1, 0 ]
- name: 'Right Motor Back'
position: [ -1, 1, 0 ]
- name: 'Left Motor Back'
position: [ -1, -1, 0 ]