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Roboclaw: Updated Airframe and fixed left and right mapping error

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This commit is contained in:
PerFrivik
2023-11-28 16:30:17 +01:00
committed by Matthias Grob
parent 09d30568ab
commit de9074558b
3 changed files with 24 additions and 22 deletions
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src/drivers/roboclaw/Roboclaw.cpp
+11 -11
View File
@@ -158,15 +158,15 @@ bool Roboclaw::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
float right_motor_output = ((float)outputs[0] - 128.0f) / 127.f;
float left_motor_output = -((float)outputs[1] - 128.0f) / 127.f;
float left_motor_output = ((float)outputs[1] - 128.0f) / 127.f;
if (stop_motors) {
setMotorSpeed(Motor::Left, 0.f);
setMotorSpeed(Motor::Right, 0.f);
setMotorSpeed(Motor::Left, 0.f);
} else {
setMotorSpeed(Motor::Left, left_motor_output);
setMotorSpeed(Motor::Right, right_motor_output);
setMotorSpeed(Motor::Left, left_motor_output);
}
return true;
@@ -214,12 +214,12 @@ int Roboclaw::readEncoder()
uint8_t buffer_speed_right[ENCODER_SPEED_MESSAGE_SIZE];
uint8_t buffer_speed_left[ENCODER_SPEED_MESSAGE_SIZE];
if (receiveTransaction(Command::ReadSpeedMotor2, buffer_speed_left,
if (receiveTransaction(Command::ReadSpeedMotor1, buffer_speed_right,
ENCODER_SPEED_MESSAGE_SIZE) < ENCODER_SPEED_MESSAGE_SIZE) {
return ERROR;
}
if (receiveTransaction(Command::ReadSpeedMotor1, buffer_speed_right,
if (receiveTransaction(Command::ReadSpeedMotor2, buffer_speed_left,
ENCODER_SPEED_MESSAGE_SIZE) < ENCODER_SPEED_MESSAGE_SIZE) {
return ERROR;
}
@@ -228,10 +228,10 @@ int Roboclaw::readEncoder()
return ERROR;
}
int32_t speed_left = swapBytesInt32(&buffer_speed_left[0]);
int32_t speed_right = swapBytesInt32(&buffer_speed_right[0]);
int32_t position_left = swapBytesInt32(&buffer_positon[4]);
int32_t speed_left = swapBytesInt32(&buffer_speed_left[0]);
int32_t position_right = swapBytesInt32(&buffer_positon[0]);
int32_t position_left = swapBytesInt32(&buffer_positon[4]);
wheel_encoders_s wheel_encoders{};
wheel_encoders.wheel_speed[0] = static_cast<float>(speed_right) / _param_rbclw_counts_rev.get() * M_TWOPI_F;
@@ -249,7 +249,7 @@ void Roboclaw::setMotorSpeed(Motor motor, float value)
Command command;
// send command
if (motor == Motor::Left) {
if (motor == Motor::Right) {
if (value > 0) {
command = Command::DriveForwardMotor1;
@@ -257,7 +257,7 @@ void Roboclaw::setMotorSpeed(Motor motor, float value)
command = Command::DriveBackwardsMotor1;
}
} else if (motor == Motor::Right) {
} else if (motor == Motor::Left) {
if (value > 0) {
command = Command::DriveForwardMotor2;
@@ -277,10 +277,10 @@ void Roboclaw::setMotorDutyCycle(Motor motor, float value)
Command command;
// send command
if (motor == Motor::Left) {
if (motor == Motor::Right) {
command = Command::DutyCycleMotor1;
} else if (motor == Motor::Right) {
} else if (motor == Motor::Left) {
command = Command::DutyCycleMotor2;
} else {
src/modules/control_allocator/module.yaml
+2 -2
View File
@@ -961,10 +961,10 @@ mixer:
actuators:
- actuator_type: 'motor'
instances:
- name: 'Left Motor'
position: [ 0, -1., 0 ]
- name: 'Right Motor'
position: [ 0, 1., 0 ]
- name: 'Left Motor'
position: [ 0, -1., 0 ]
7: # Motors (6DOF)
actuators: