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Anti friction wheels block #171

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Anti friction wheels block #171

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fb7513c
Add method to avoid friction wheels block.
YoujianWu Jul 28, 2024
347333e
Fix decimal points missing.
YoujianWu Jul 28, 2024
2f58ec2
Run pre-commit.
YoujianWu Jul 28, 2024
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1 change: 1 addition & 0 deletions rm_shooter_controllers/include/rm_shooter_controllers/standard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,7 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
bool dynamic_reconfig_initialized_ = false;
bool state_changed_ = false;
bool maybe_block_ = false;
double anti_friction_block_duty_cycle_{}, anti_friction_block_vel_{};
bool has_shoot_ = false, has_shoot_last_ = false;
bool wheel_speed_raise_ = true, wheel_speed_drop_ = true;
double last_wheel_speed_{};
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17 changes: 17 additions & 0 deletions rm_shooter_controllers/src/standard.cpp
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Expand Up @@ -59,6 +59,8 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
push_per_rotation_ = getParam(controller_nh, "push_per_rotation", 0);
push_wheel_speed_threshold_ = getParam(controller_nh, "push_wheel_speed_threshold", 0.);
freq_threshold_ = getParam(controller_nh, "freq_threshold", 20.);
anti_friction_block_duty_cycle_ = getParam(controller_nh, "anti_friction_block_duty_cycle", 0.5);
anti_friction_block_vel_ = getParam(controller_nh, "anti_friction_block_vel", 810.0);

cmd_subscriber_ = controller_nh.subscribe<rm_msgs::ShootCmd>("command", 1, &Controller::commandCB, this);
local_heat_state_pub_.reset(new realtime_tools::RealtimePublisher<rm_msgs::LocalHeatState>(
Expand Down Expand Up @@ -184,6 +186,7 @@ void Controller::ready(const ros::Duration& period)

void Controller::push(const ros::Time& time, const ros::Duration& period)
{
static int friction_block_count = 0;
if (state_changed_)
{ // on enter
state_changed_ = false;
Expand Down Expand Up @@ -240,7 +243,21 @@ void Controller::push(const ros::Time& time, const ros::Duration& period)
maybe_block_ = false;
}
else
{
ROS_DEBUG("[Shooter] Wait for friction wheel");
double command = (friction_block_count <= static_cast<int>(anti_friction_block_duty_cycle_ * 1000)) ?
anti_friction_block_vel_ :
0.;
for (auto& ctrl_friction_l : ctrls_friction_l_)
{
ctrl_friction_l->setCommand(command);
}
for (auto& ctrl_friction_r : ctrls_friction_r_)
{
ctrl_friction_r->setCommand(command);
}
friction_block_count = (friction_block_count + 1) % 1000;
}
}

void Controller::block(const ros::Time& time, const ros::Duration& period)
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