Merge 38001ed into 04d7f2e

upkie · Mar 10, 2024 · 945aa24 · 945aa24
2 parents 04d7f2e + 38001ed
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,6 +4,11 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- BulletInterface: Set a default servo temperature of 20 °C
+- BulletInterface: Set a default servo voltage of 18 V
+
 ## [2.2.1] - 2024-02-20
 
 ### Added

diff --git a/vulp/actuation/BulletInterface.cpp b/vulp/actuation/BulletInterface.cpp
@@ -56,6 +56,8 @@ BulletInterface::BulletInterface(const ServoLayout& layout,
     const std::string& joint_name = id_joint.second;
     moteus::ServoReply reply;
     reply.id = servo_id;
+    reply.result.temperature = 20.0;  // ['C], simulation room temperature
+    reply.result.voltage = 18.0;      // [V], nominal voltage of a RYOBI battery
     joint_index_map_.try_emplace(joint_name, -1);
     servo_reply_.try_emplace(joint_name, reply);
   }

diff --git a/vulp/actuation/tests/BulletInterfaceTest.cpp b/vulp/actuation/tests/BulletInterfaceTest.cpp
@@ -220,4 +220,22 @@ TEST_F(BulletInterfaceTest, ComputeJointFeedforwardTorque) {
   ASSERT_NEAR(right_wheel_reply.result.torque, 0.42, 1e-3);
 }
 
+TEST_F(BulletInterfaceTest, JointRepliesHaveTemperature) {
+  interface_->cycle(data_, [](const moteus::Output& output) {});
+  for (const auto& pair : interface_->servo_reply()) {
+    const auto& reply = pair.second;
+    ASSERT_GT(reply.result.temperature, 0.0);
+    ASSERT_LT(reply.result.temperature, 100.0);
+  }
+}
+
+TEST_F(BulletInterfaceTest, JointRepliesHaveVoltage) {
+  interface_->cycle(data_, [](const moteus::Output& output) {});
+  for (const auto& pair : interface_->servo_reply()) {
+    const auto& reply = pair.second;
+    ASSERT_GT(reply.result.voltage, 10.0);  // moteus min 10 V
+    ASSERT_LT(reply.result.voltage, 44.0);  // moteus max 44 V
+  }
+}
+
 }  // namespace vulp::actuation