Add 2 versions of test stand #72

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movefasta wants to merge 1 commit from 37-backup into main

movefasta commented

2025-02-27 12:49:30 +03:00

(Migrated from gitlab.com)

Убрал лишние скругления, поверхности и элементы построения из каждой
детали.
Избавился от дубликатов деталей.
Изменил структуру файлов и папок
Изменил описание папок.

Update README.md

Поправил readme.md

Update README.md

Test-stands progress.

2 versions for 1 and 2 motors.
Parts for GM6208.

Removed unnecessary fillets, surfaces, and construction elements from
each part; Eliminated duplicate parts; Restructured file and folder
organization.

Configure clang tools and update build settings

Added .clang-tidy with custom checks to enforce code style.
Created .clangd with specific compile flag additions and removals.
Updated .gitignore to include new cache, metadata, and configuration
files.
Updated platformio.ini:
- Bumped Simple FOC to version 2.3.4 and STM32_CAN to version
  1.1.2.
- Added gen_compile_commands.py as an extra script.

Adjust serial monitor speed and refine motor control logic

Changed monitor_speed in platformio.ini from 115200 to 19200
for compatibility.
Initialized MotorControlInputs struct members with default values.
Uncommented digital write operations in doMotor for proper
execution.
Disabled debug output and monitoring configurations for cleaner
operation.
Adjusted motor tuning parameters by commenting out specific settings.
Changed Serial.begin(115200) to Serial.begin(19200) in setup()
to match the new monitor speed.
Commented out _delay(1000) and current_angle variable to remove
unnecessary delays and unused code.

Enhance CAN bus scripts with argparse and error handling

Improved error handling in python_enable_motor.py by capturing and
displaying exception details.
Ensured proper CAN bus shutdown in python_enable_motor.py with a
finally block.
Refactored python_send_angle.py to accept a command-line argument
for the target angle instead of looping indefinitely.
Refactored python_send_velocity.py to accept a command-line argument
for target speed and removed infinite loops for better usability.
Added send_velocity_impulses.py, a new script to send alternating
velocity impulses over the CAN bus.

Refactor ROS2 actuator with improved CAN handling and logging

Introduced rclcpp::Logger for consistent logging throughout
RbsServoActuator.
Renamed joint state and command variables to hw_joint_angle,
hw_joint_velocity, hw_joint_target_angle, and
hw_joint_target_velocity for clarity.
Added parameters can_interface and can_node_id, allowing
configurable CAN interface and node ID.
Enhanced CAN initialization and error handling in on_init to
properly retrieve interface index and bind the socket.
Implemented structured CAN message handling:
- Sends activation command when the actuator is enabled.
- Reads and logs incoming CAN frames for joint state updates.
- Ensures error handling for failed read/write operations.
Updated URDF (simple_robot.urdf) to include can_interface and
can_node_id parameters for hardware configuration.

New PID coefficients; remove lega

Closes #37

1. Убрал лишние скругления, поверхности и элементы построения из каждой детали. 2. Избавился от дубликатов деталей. 3. Изменил структуру файлов и папок 4. Изменил описание папок. Update README.md Поправил readme.md Update README.md Test-stands progress. 2 versions for 1 and 2 motors. Parts for GM6208. Removed unnecessary fillets, surfaces, and construction elements from each part; Eliminated duplicate parts; Restructured file and folder organization. Configure clang tools and update build settings - Added `.clang-tidy` with custom checks to enforce code style. - Created `.clangd` with specific compile flag additions and removals. - Updated `.gitignore` to include new cache, metadata, and configuration files. - Updated `platformio.ini`: - Bumped `Simple FOC` to version 2.3.4 and `STM32_CAN` to version 1.1.2. - Added `gen_compile_commands.py` as an extra script. Adjust serial monitor speed and refine motor control logic - Changed `monitor_speed` in `platformio.ini` from `115200` to `19200` for compatibility. - Initialized `MotorControlInputs` struct members with default values. - Uncommented digital write operations in `doMotor` for proper execution. - Disabled debug output and monitoring configurations for cleaner operation. - Adjusted motor tuning parameters by commenting out specific settings. - Changed `Serial.begin(115200)` to `Serial.begin(19200)` in `setup()` to match the new monitor speed. - Commented out `_delay(1000)` and `current_angle` variable to remove unnecessary delays and unused code. Enhance CAN bus scripts with argparse and error handling - Improved error handling in `python_enable_motor.py` by capturing and displaying exception details. - Ensured proper CAN bus shutdown in `python_enable_motor.py` with a `finally` block. - Refactored `python_send_angle.py` to accept a command-line argument for the target angle instead of looping indefinitely. - Refactored `python_send_velocity.py` to accept a command-line argument for target speed and removed infinite loops for better usability. - Added `send_velocity_impulses.py`, a new script to send alternating velocity impulses over the CAN bus. Refactor ROS2 actuator with improved CAN handling and logging - Introduced `rclcpp::Logger` for consistent logging throughout `RbsServoActuator`. - Renamed joint state and command variables to `hw_joint_angle`, `hw_joint_velocity`, `hw_joint_target_angle`, and `hw_joint_target_velocity` for clarity. - Added parameters `can_interface` and `can_node_id`, allowing configurable CAN interface and node ID. - Enhanced CAN initialization and error handling in `on_init` to properly retrieve interface index and bind the socket. - Implemented structured CAN message handling: - Sends activation command when the actuator is enabled. - Reads and logs incoming CAN frames for joint state updates. - Ensures error handling for failed read/write operations. - Updated URDF (`simple_robot.urdf`) to include `can_interface` and `can_node_id` parameters for hardware configuration. New PID coefficients; remove lega Closes #37

movefasta commented

2025-02-27 12:49:30 +03:00

(Migrated from gitlab.com)

assigned to @movefasta

movefasta commented

2025-02-27 15:47:53 +03:00

(Migrated from gitlab.com)

added 1 commit

0120f0f5 - Add 2 motor versions & test stand

Compare with previous version

added 1 commit <ul><li>0120f0f5 - Add 2 motor versions & test stand</li></ul> [Compare with previous version](/robossembler/servo/-/merge_requests/25/diffs?diff_id=1278691482&start_sha=b4ecabc13bf518562e6b482cdf4be8b0a2b706ec)

movefasta (Migrated from gitlab.com) closed this pull request

2025-02-27 16:02:26 +03:00