Added per-motor control to thunderscope diagnostics. (new)#3423
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Muxite
requested review from
itsarune,
sauravbanna and
williamckha
as code owners
Muxite
changed the title
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| motor_control.dribbler_speed_rpm = int(self.dribbler_speed_rpm_slider.value()) | ||
| if self.control_mode == ControlMode.VELOCITY: | ||
| motor_control.ClearField("direct_per_wheel_control") |
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Do you actually need this line? Because I thought the if and the else statements handles this already.
I could be wrong entirely.
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It could be possible to move the ClearField to toggle_control_mode, i will try that.
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Looks good. |
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This PR is stale because it has been open for 30 days with no activity. Remove stale label or comment or this will be closed in 5 days. |
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This PR is stale because it has been open for 30 days with no activity. Remove stale label or comment or this will be closed in 5 days. |
williamckha
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williamckha
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Tested on robot, works great!
5 participants
Description
Added per motor control as a set of radio buttons in thunderscope diagnostic. Direct velocity and per motor control will switch depending on which radio button is pressed. The two control widgets will not appear at the same time, since both inputs are not allowed at the same time. Pressing the button for per-motor control will shut off direct-velocity control and reset those sliders, then switch the widget for per-motor control. Vice versa also applies.
Testing Done
It was tested on a robot in the mezz on Jan 25th. Test was made on all sliders of direct-velocity, switching to per-motor without using reset, changing sliders on per-motor, and switching back to direct-velocity. Back-and-forth was done twice. The robot did all the commands it was told to on all motors. It was also tested using print() on the terminal.
Resolved Issues
resolves #3320
Length Justification and Key Files to Review
drive_and_dribbler_widget.py
Added functions similar to existing ones, but that apply to per-motor controls as opposed to direct-velocity controls. Also added an enum for the control mode.
Review Checklist
This PR was reviewed before, but since it was a long time ago, I decided to make a new branch instead of resolving all the merge conflicts on the old one.
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue