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[add] Adding a boat config to Control Allocator (one engine, one steering)

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Tomas Twardzik
2025-02-12 11:10:28 +01:00
parent 0df117bfa5
commit d4c51ce762
1 changed files with 38 additions and 0 deletions
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src/modules/control_allocator/module.yaml
+38
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@@ -33,6 +33,9 @@ parameters:
13: Rover (Mecanum)
14: Spacecraft 2D
15: Spacecraft 3D
16: Boat (Single engine)
17: Boat (Differential)
18: Boat (Twin engine)
default: 0
CA_METHOD:
@@ -1191,3 +1194,38 @@ mixer:
position: [ -1, 1, 0 ]
- name: 'Left Motor Back'
position: [ -1, -1, 0 ]
16: # Boat (Single engine)
title: 'Boat (Single engine)'
actuators:
- actuator_type: 'motor'
instances:
- name: 'Throttle'
position: [ -1., 0, 0 ]
- actuator_type: 'servo'
instances:
- name: 'Steering'
position: [ -1., 0, 0 ]
17: # Boat (Differential)
title: 'Boat (Differential)'
actuators:
- actuator_type: 'motor'
instances:
- name: 'Left motor'
position: [ -1., 0, 0 ]
- name: 'Right motor'
position: [ 1., 0, 0 ]
18: # Boat (Twin engine)
title: 'Boat (Twin engine)'
actuators:
- actuator_type: 'motor'
instances:
- name: 'Left motor'
position: [ -1., 0, 0 ]
- name: 'Right motor'
position: [ 1., 0, 0 ]
- actuator_type: 'servo'
instances:
- name: 'Left steering'
position: [ -1., 0, 0 ]
- name: 'Right steering'
position: [ 1., 0, 0 ]