From d4c51ce762a656e4b6d35095677189312b8510cf Mon Sep 17 00:00:00 2001 From: Tomas Twardzik Date: Tue, 14 Jan 2025 11:56:38 +0100 Subject: [PATCH] [add] Adding a boat config to Control Allocator (one engine, one steering) --- src/modules/control_allocator/module.yaml | 38 +++++++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index b7fe1eb019..2212303c13 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -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 ]