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added mecanum as new rover type

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This commit is contained in:
PerFrivik 2024-02-12 10:39:11 +01:00
parent c0162c4701
commit 2f352dafdc
1 changed files with 18 additions and 8 deletions
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26
src/modules/control_allocator/module.yaml
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@ -961,14 +961,10 @@ mixer:
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 ]
- name: 'Right Motor'
position: [ 0, 1., 0 ]
- name: 'Left Motor'
position: [ 0, -1., 0 ]
7: # Motors (6DOF)
actuators:
@ -1144,3 +1140,17 @@ 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 ]