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Achieve three friction #182

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a9e2fed
Achieve three friction wheel shooting.
321Aurora Sep 19, 2024
4bedec5
Update chassis compensation.
321Aurora Oct 8, 2024
5dd5e60
Merge branch 'rm-controls:master' into 3friction
321Aurora Nov 17, 2024
daa68f9
Fix some wrong.
321Aurora Nov 17, 2024
95b7055
Merge remote-tracking branch 'origin/3friction' into 3friction
321Aurora Nov 17, 2024
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4 changes: 2 additions & 2 deletions rm_shooter_controllers/include/rm_shooter_controllers/standard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -86,9 +86,9 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
void reconfigCB(rm_shooter_controllers::ShooterConfig& config, uint32_t /*level*/);

hardware_interface::EffortJointInterface* effort_joint_interface_{};
std::vector<effort_controllers::JointVelocityController*> ctrls_friction_l_, ctrls_friction_r_;
std::vector<effort_controllers::JointVelocityController*> ctrls_friction_l_, ctrls_friction_m_, ctrls_friction_r_;
effort_controllers::JointPositionController ctrl_trigger_;
std::vector<double> wheel_speed_offset_l_, wheel_speed_offset_r_;
std::vector<double> wheel_speed_offset_l_, wheel_speed_offset_m_, wheel_speed_offset_r_;
int push_per_rotation_{}, count_{};
double push_wheel_speed_threshold_{};
double freq_threshold_{};
Expand Down
35 changes: 34 additions & 1 deletion rm_shooter_controllers/src/standard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,8 +76,9 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
d_srv_->setCallback(cb);

effort_joint_interface_ = robot_hw->get<hardware_interface::EffortJointInterface>();
XmlRpc::XmlRpcValue friction_left, friction_right;
XmlRpc::XmlRpcValue friction_left, friction_mid, friction_right;
controller_nh.getParam("friction_left", friction_left);
controller_nh.getParam("friction_mid", friction_mid);
controller_nh.getParam("friction_right", friction_right);
double wheel_speed_offset;
for (const auto& it : friction_left)
Expand All @@ -90,6 +91,16 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
else
return false;
}
for (const auto& it : friction_mid)
{
ros::NodeHandle nh = ros::NodeHandle(controller_nh, "friction_mid/" + it.first);
wheel_speed_offset_m_.push_back(nh.getParam("wheel_speed_offset", wheel_speed_offset) ? wheel_speed_offset : 0.);
effort_controllers::JointVelocityController* ctrl_friction_m = new effort_controllers::JointVelocityController;
if (ctrl_friction_m->init(effort_joint_interface_, nh))
ctrls_friction_m_.push_back(ctrl_friction_m);
else
return false;
}
for (const auto& it : friction_right)
{
ros::NodeHandle nh = ros::NodeHandle(controller_nh, "friction_right/" + it.first);
Expand Down Expand Up @@ -155,6 +166,8 @@ void Controller::update(const ros::Time& time, const ros::Duration& period)
}
for (auto& ctrl_friction_l : ctrls_friction_l_)
ctrl_friction_l->update(time, period);
for (auto& ctrl_friction_m : ctrls_friction_m_)
ctrl_friction_m->update(time, period);
for (auto& ctrl_friction_r : ctrls_friction_r_)
ctrl_friction_r->update(time, period);
ctrl_trigger_.update(time, period);
Expand All @@ -169,6 +182,8 @@ void Controller::stop(const ros::Time& time, const ros::Duration& period)

for (auto& ctrl_friction_l : ctrls_friction_l_)
ctrl_friction_l->setCommand(0.);
for (auto& ctrl_friction_m : ctrls_friction_m_)
ctrl_friction_m->setCommand(0.);
for (auto& ctrl_friction_r : ctrls_friction_r_)
ctrl_friction_r->setCommand(0.);
ctrl_trigger_.setCommand(ctrl_trigger_.joint_.getPosition());
Expand Down Expand Up @@ -200,6 +215,12 @@ void Controller::push(const ros::Time& time, const ros::Duration& period)
ctrl_friction_l->joint_.getVelocity() <= M_PI)
wheel_speed_ready = false;
}
for (auto& ctrl_friction_m : ctrls_friction_m_)
{
if (ctrl_friction_m->joint_.getVelocity() < push_wheel_speed_threshold_ * ctrl_friction_m->command_ ||
ctrl_friction_m->joint_.getVelocity() <= M_PI)
wheel_speed_ready = false;
}
for (auto& ctrl_friction_r : ctrls_friction_r_)
{
if (ctrl_friction_r->joint_.getVelocity() > push_wheel_speed_threshold_ * ctrl_friction_r->command_ ||
Expand Down Expand Up @@ -277,6 +298,12 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
abs(ctrl_friction_l->joint_.getEffort()) >= friction_block_effort_ && cmd.wheel_speed != 0)
friction_wheel_block = true;
}
for (auto& ctrl_friction_m : ctrls_friction_m_)
{
if (ctrl_friction_m->joint_.getVelocity() <= friction_block_vel_ &&
abs(ctrl_friction_m->joint_.getEffort()) >= friction_block_effort_ && cmd.wheel_speed != 0)
friction_wheel_block = true;
}
for (auto& ctrl_friction_r : ctrls_friction_r_)
{
if (ctrl_friction_r->joint_.getVelocity() >= -1.0 * friction_block_vel_ &&
Expand All @@ -287,6 +314,8 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
{
for (size_t i = 0; i < ctrls_friction_l_.size(); i++)
ctrls_friction_l_[i]->setCommand(cmd_.wheel_speed + config_.extra_wheel_speed + wheel_speed_offset_l_[i]);
for (size_t i = 0; i < ctrls_friction_m_.size(); i++)
ctrls_friction_m_[i]->setCommand(cmd_.wheel_speed + config_.extra_wheel_speed + wheel_speed_offset_m_[i]);
for (size_t i = 0; i < ctrls_friction_r_.size(); i++)
ctrls_friction_r_[i]->setCommand(-cmd_.wheel_speed - config_.extra_wheel_speed - wheel_speed_offset_r_[i]);
}
Expand All @@ -299,6 +328,10 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
{
ctrl_friction_l->setCommand(command);
}
for (auto& ctrl_friction_m : ctrls_friction_m_)
{
ctrl_friction_m->setCommand(command);
}
for (auto& ctrl_friction_r : ctrls_friction_r_)
{
ctrl_friction_r->setCommand(command);
Expand Down
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