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Brushed Motors Planning

Task: Write brushed motors ROS code

Section titled “Task: Write brushed motors ROS code”

Location: mrover-ros/embedded/esw/brushed_motors

  • Get Quintin’s Code to build

Arm to Can Node

Section titled “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:

Section titled “Implementation Details:”

Written in Python

Task: Write brushed motors open loop control

Section titled “Task: Write brushed motors open loop control”

Location: mrover-ros/embedded/esw/fw/motor_mother

Implementation Details:

Section titled “Implementation Details:”

Task: Test brushed firmware code w/out motor

Section titled “Task: Test brushed firmware code w/out motor”

Implementation Details:

Section titled “Implementation Details:”