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Add support for main brush, side brush, and vacuum motors #15

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jacobperron opened this Issue Mar 28, 2016 · 2 comments

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jacobperron commented Mar 28, 2016

Add subscribers to listen for the three different motor commands.

@jacobperron jacobperron added this to the 2.0.0 milestone Apr 19, 2016

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zserlin1 Feb 26, 2018

Is this still in the works?

zserlin1 commented Feb 26, 2018

Is this still in the works?

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jacobperron Feb 26, 2018

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@zserlin1 I haven't had time to work on this. There was some work done on this a while ago (#36), perhaps I'll get to it one weekend. In the meantime, PRs always welcome :)

To make the API more clear for developers, I think using a custom message for controlling the motors would be good. A proposal for ca_msgs/MotorSetpoint:

    # For the main and side brush motors, provide a duty cycle in the range [-1, 1]
    # The range of acceptable values for the vacuum motor is [0, 1]
    float32 duty_cycle
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jacobperron commented Feb 26, 2018

@zserlin1 I haven't had time to work on this. There was some work done on this a while ago (#36), perhaps I'll get to it one weekend. In the meantime, PRs always welcome :)

To make the API more clear for developers, I think using a custom message for controlling the motors would be good. A proposal for ca_msgs/MotorSetpoint:

    # For the main and side brush motors, provide a duty cycle in the range [-1, 1]
    # The range of acceptable values for the vacuum motor is [0, 1]
    float32 duty_cycle
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