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Arm Firmware Master PR#431

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TateKolton wants to merge 124 commits intoUBC-Snowbots:masterUBC-Snowbots/Snowflake:masterfrom TateKolton:teensy-driver-tateTateKolton/Snowflake:teensy-driver-tateCopy head branch name to clipboard

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Commits

Commits on Aug 1, 2022

• Initialized arm driver node

  

  ihsan314

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  TateKolton

  committed
  3c1d9ee

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• initialize teensy based code

  

  ihsan314

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  d65d4de

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• Add xbox-switch switching logic and complete initialization of teensy

  

  ihsan314

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  038c531

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• Add mode to procontroller_snowbots package

  

  ihsan314

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  c95f8b5

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• Remove starter code

  

  ihsan314

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  e88ca50

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• fix compiler errors

  

  ihsan314

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  TateKolton

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  0ce27e3

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• Draft ros_control based hardware interface exposing PointJointInterface

  

  ihsan314

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  1d72c28

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• Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node

  TateKolton

  committed
  15b92bf

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• added files for subscriber side of arm teensy interface

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  f406bc7

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• Created subscriber side of pro to teensy communication. Ihsan to fill out rosserial APIs to send strings to teensy

  TateKolton

  committed
  7c100a8

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• teensy driver and firmware progress

  TateKolton

  committed
  348dc9e

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• Add libserial code to arm_hardware_driver node

  

  ihsan314

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• Add CmakeLists and package.xml

  

  ihsan314

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• xbox mode implementation and hardware interface beginning

  TateKolton

  committed
  f2e729a

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• updated teensy firmware to account for differential wrist joint

  TateKolton

  committed
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• progress:

  TateKolton

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  22d02a4

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• Add ability to toggle usage of MoveIt

  

  ihsan314

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  TateKolton

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  27f0e00

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• Sketch communication between hardware driver & interface

  

  ihsan314

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  5ed1701

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• Resolve compiler errors asides from serial communication issues

  

  ihsan314

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  0107bc6

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• added HW interface / driver pub/sub implementations for communication with board

  TateKolton

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  b591f3b

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• updated force feedback flow

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  ccbf09d

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• updated force feedback flow

  TateKolton

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  530d4ac

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• updated teensy firmware to fix compiler errors, restructured joint position sending while in joint mode

  TateKolton

  committed
  9c6e285

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• Populate and receive vector in sb_msgs/ArmPosition message

  

  ihsan314

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  4bce86c

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• adjusted arm motion parameters

  TateKolton

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  18e731a

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• fixed bug

  TateKolton

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  447675c

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• Resolve compilation errors

  

  ihsan314

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  f861477

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• fixed pro controller error and caught a few bugs in hardware driver

  TateKolton

  committed
  01fedbc

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• ihsan fix

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  61b6cd0

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• functioning firmware for axes 1-4

  TateKolton

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  76eec63

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• fixed hardware driver bug

  TateKolton

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  84a7eea

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• changes made for debugging

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  5fb0257

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• Change termination condition

  TateKolton

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  2e25c41

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• Add missing else condition to prevent segfault

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  7d34b79

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• Fix install script

  TateKolton

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  a2502c9

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• Resolve compilation errors

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  committed
  83ce2b7

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Commits on Aug 2, 2022

• Clean up arm hardware interface code and add position limits to config file

  TateKolton

  committed
  0ae28dc

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• Resize encPos vector

  TateKolton

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Commits on Aug 3, 2022

• Experiment with new launch file and parameters

  TateKolton

  committed
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• Add config files to hardware interface package

  TateKolton

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• Load arm urdf in launch file

  TateKolton

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• Add modified demo.launch file and named it experiment.launch

  TateKolton

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  7cc414d

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• Fix config files and launch file

  TateKolton

  committed
  4e920cd

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• added automatic planning and execution based on timer event

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  65d5904

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• Adjust parameters in yaml config files again

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Commits on Aug 4, 2022

• Add timerEvent parameter to timer callback

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• Adjust *.yaml and launch files again

  TateKolton

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  5c0c141

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• Add ROS_INFO and remove extra joint_state_controller

  TateKolton

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  619d1a8

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• Upload CMakeLists.txt and package.xml to git

  TateKolton

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• Adjust yaml and launch files to get moveit plans to execute

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  b1589de

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Commits on Aug 6, 2022

• final adjustments to speed settings

  TateKolton

  committed
  a2a1fa9

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• Apply debugging fixes from Adam

  TateKolton

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  58d7a1b

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• Remove comments on driver to hardware interface communication

  TateKolton

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  ba29608

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• Add joint limits, fix encoder equation, comment out timer function

  TateKolton

  committed
  53ae72e

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• fw changes

  TateKolton

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  aee6be5

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• update

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• Only execute timer function when in cartesian mode

  TateKolton

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  65c7f8a

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• Fix mapping of wrist button presses

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Commits on Aug 7, 2022

• Remove joint offsets

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• test

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  f1661bf

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• added encoder fix

  TateKolton

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  16c22ee

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• added open loop encoder feedback

  TateKolton

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  c19802a

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• progress

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  ba02d3c

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• Fix position, velocity, and acceleration limits

  TateKolton

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  7b3902d

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• Invert controller buttons for wrist control and remove overwritten joint positions

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  f4bf43c

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Commits on Aug 8, 2022

• Close communication loop between driver and interface

  TateKolton

  committed
  f2a766a

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• added end effector firmware, removed ros_info from driver to clean up the terminal, added serialOpen bool to ensure no double commands sent to teensy

  TateKolton

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• added end effector firmware, removed ros_info from driver to clean up the terminal, added serialOpen bool to ensure no double commands sent to teensy-quickfix

  TateKolton

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  2cca40e

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• added simplified drill mode implementation

  TateKolton

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• added DRIVER INITIATED position and end effector force feedback based on a timer

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  a237fab

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• updated joint limits to reflect actual arm

  TateKolton

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  96ea969

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• added functions to header file and updated HW interface for tolerance checking

  TateKolton

  committed
  078b11a

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• ensured that homing blocks serial comm from callbacks/joy controller

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  90b67fc

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Commits on Aug 9, 2022

• Resolve compilation errors

  TateKolton

  committed
  0ae6f33

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• Fix timing logic for joint space mode

  TateKolton

  committed
  3bb62b3

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• wrist axes inversion

  TateKolton

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  c93606d

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• testing

  TateKolton

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  88d6bf0

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• evening-fix

  TateKolton

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  da1a73b

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• removed send current position after homing

  TateKolton

  committed
  b1b14bf

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• fixes for HW interface and firmware

  TateKolton

  committed
  f8fe037

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• tuesday morning fixes

  TateKolton

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  bed7962

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Commits on Aug 10, 2022

• Remove checks for serial flags

  TateKolton

  committed
  70c339a

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• teensy-firmware-updated

  TateKolton

  committed
  9627af7

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• added end effector homing button for cartesian/JP modes

  TateKolton

  committed
  d3b05cd

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• evening commit 2

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  072ec50

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• prog1

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  6779cbb

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• added move group interface for joint space mode

  TateKolton

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  ecfee27

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• added move group execution based on mode switching

  TateKolton

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  bcd43ce

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• fixed firmwrae directional problem when switching back to joint mode:

  TateKolton

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  61dc301

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• Invert controller axes in wheel mode and make speed adjustable (UBC-Snowbots#421)

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  ihsan314

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  TateKolton

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  b55b169

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• Add ROS driver for Piksi gps module (UBC-Snowbots#416)

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  87a6ea5

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• Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node

  TateKolton

  committed
  4df1fd3

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• teensy driver and firmware progress

  TateKolton

  committed
  0c3aa83

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• xbox mode implementation and hardware interface beginning

  TateKolton

  committed
  5fab82e

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• Add ability to toggle usage of MoveIt

  

  ihsan314

  authored and

  TateKolton

  committed
  784c10e

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• Fix install script

  TateKolton

  committed
  a5188ba

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• Resolve compiler errors

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  dd31298

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• Remove armFirmware.cpp from messy rebase

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  79b890f

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Commits on Aug 13, 2022

• Controller deadzone increase, wheel speed reduction, temporary removal of move groups

  TateKolton

  committed
  0214ed3

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• Adjust timer and serial communication settings

  TateKolton

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  a9bc530

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• comp day 1 working FW

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  406ffd0

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• comp day 2 working code

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Commits on Aug 14, 2022

• night 2 working code, updated home position

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  9e6caf6

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• Add udev rules for teensy to install script

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• eirasnt

  

  Roozki

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  c2d57c4

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• Remove cartesian/drilling mode

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• EXPERIMENTAL: changed axes for rowan's convenience

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Commits on Aug 15, 2022

• comp night 3 experimental commit

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  e256760

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• Add ROS driver for Piksi gps module (UBC-Snowbots#416)

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• Arcu detection (UBC-Snowbots#419)

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  6bfea4c

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• Added publisher side for teensy interface with arm. Cartesian mode will require further adjustments to recieve commands from moveit node

  TateKolton

  committed
  4b9cbd7

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• teensy driver and firmware progress

  TateKolton

  committed
  a7a8100

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• xbox mode implementation and hardware interface beginning

  TateKolton

  committed
  196706f

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• Add ability to toggle usage of MoveIt

  

  ihsan314

  authored and

  TateKolton

  committed
  c7a3921

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• Fix install script

  TateKolton

  committed
  2156e34

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• Invert controller axes in wheel mode and make speed adjustable (UBC-Snowbots#421)

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  ihsan314

  and

  TateKolton

  committed
  f33485f

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• Add ROS driver for Piksi gps module (UBC-Snowbots#416)

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  Roozki

  authored and

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  eefc191

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• Fix topic subscription in markers

  TateKolton

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  c76f3bd

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• Resolve compile errors from rebasing

  TateKolton

  committed
  4040f36

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• stash

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  5ee6f43

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• update

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Commits on Aug 23, 2022

• competition-firmware

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Commits on Aug 28, 2022

• Fix left joystick logic and modularize deadzone

  

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• Controller improvements in deadzone and wheel speed

  

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