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Publishing encoder message at regular intervals

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Timothy Scott
2019-08-05 02:45:33 -07:00
committed by Julian Oes
parent 60da26978f
commit b5cf8416b6
5 changed files with 158 additions and 125 deletions
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msg/CMakeLists.txt
+1
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@@ -142,6 +142,7 @@ set(msg_files
vehicle_status_flags.msg
vehicle_trajectory_waypoint.msg
vtol_vehicle_status.msg
wheel_encoders.msg
wind_estimate.msg
)
msg/wheel_encoders.msg
+5 -5
View File
@@ -1,15 +1,15 @@
# TODO: How should this mapping be done? What if there's a 6-wheeled (or more) rover?
uint8_t FRONT_RIGHT = 0
uint8_t FRONT_LEFT = 1
uint8_t REAR_RIGHT = 2
uint8_t REAR_LEFT = 3
uint8 FRONT_RIGHT = 0
uint8 FRONT_LEFT = 1
uint8 REAR_RIGHT = 2
uint8 REAR_LEFT = 3
uint64 timestamp # time since system start (microseconds)
# TODO: How large should the arrays be? What if we have a 6-wheeled rover?
bool[4] has_encoder # True for each wheel that has an encoder
int64[4] encoder_position # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
float[4] speed # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
float32[4] speed # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
# TODO: Should this be just one uint32, assuming each wheel has the same encoder?
uint32[4] pulses_per_rev # Number of pulses per revolution for each wheel