Brushed Motors Planning - umrover/mrover-ros GitHub Wiki
Task: Write brushed motors ROS code
Location: mrover-ros/embedded/esw/brushed_motors
- Get Quintin's Code to build
Arm to Can Node
Reads in arm message from rostopic ra_cmd. This message contains a motor name, target velocity, and target position. Then, the node will convert this message into a can message and publish to rostopic can_messages. A different can node will deal brushed vs. brushless Will probably look very similar to last year's code.
motor_message:
motor_name
velocity
position
can_message:
bus_name
can frame
Implementation Details:
Written in Python
Task: Write brushed motors open loop control
Location: mrover-ros/embedded/esw/fw/motor_mother