diffbot_base

Package documentation

Changelog for package diffbot_base

1.1.0 (2022-03-28)

• fix: missing subscriber initialization (#54)

• feat: warn if eStop() is called on mcu

• Change base config: switch motor pins

• feat: add callbacks for low level pids on mcu #54 For MCU firmware

  - Add subscribers for left and right motor pid controllers using diffbot_msgs::PIDStamped custom message

  • Update debug logging message (different formatting)

  - Update PID controller interface (provide proportional_, integral_ and derivative_ values)

• fix: missing diffbot namespace in test

• fix: test_encoders.cpp include name

• feat: add documentation link for unity

• Merge pull request #42 from joeuser846/motor-defines Use MOTOR_LEFT/RIGHT from diffbot_base_config.h instead of hardcoding pin numbers

• Fix filenames

• Use MOTOR_LEFT/RIGHT instead of hardcoding pin numbers

• Contributors: Franz Pucher, Joe User

1.0.0 (2021-08-13)

• clean CMakeLists.txt: remove dependency
• add dependency diffbot_msgs_generate_messages_cpp to build diffbot_msgs before diffbot_base package
• Refactor: Update interface - Exchange jointStates between high hw intf and low level base controller - Add measured_joint_state publisher in base controller to let high level hw intf subscribe to it
  • Remove encoder publisher (todo consider publishing at low rate)
  • Update docstrings of BaseController
  • Extend interface of diffbot::Encoder class to read jointStates
• refactor: renamed methods due to interface change: jointStates
• use new jointState intf between high and low level base
• make use of diffbot namespace
• Update base_controller documentation
  • Update BaseController class
  • Add E_STOP_COMMAND_RECEIVED_DURATION define in diffbot_base_config
• update diffbot_base
  • add diffbot namespace to base_controller library classes
  • update docstrings
  • run rosdoc_lite
  • fix some rosdoc_lite warnings
• add diffbot_base launch arg to choose robot model (for remo and diffbot)
• add AngularVelocitiesStamped.h for rosserial
• remove measured_vel_ publisher in rosserial
• add low level pid
  • Add pid lib for arduino code
  • make use of pid in base_controller.h
  • update debug logging
  • use ros::time in encoder lib
• set motor_constant=1 (gain trim model)
• make use of new diffbot_msgs in hardware interface and base_controller
• feat: add debug parameter to parameter server add option to enable/disable debug logging of the hw interface
• refactor base_controller: use ros time instead of millis
• refactor main.cpp: add base_controller class
  • add base_controller.h with BaseController template class
  • use class publisher and subscriber
  • use BaseController instead of global variables
  • read parameters from parameter server in BaseController
• add encoder resolution to config header and getter/setter
• add include guards to encoder.h
• add base_controller rosserial code using rates
• fix vector assignment of command velocity in hw intf
• add tests for motor controllers
• add compiled rosserial diffbot_msgs
• add adafruit_feather_wing motor controller class header
• moved adafruit_feather_wing.cpp to subfolder
• add adafruit_feather_wing motor controller class
• add author comment
• add abstract MotorControllerInterface class
• remove test_motors.cpp
• update encoder lib for rosserial
  • add doc strings to encoder.h
  • add ticksToAngle method

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