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[Spinal][Configuration] #629

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wants to merge 93 commits into from
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[Spinal][Configuration] #629

wants to merge 93 commits into from

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sugihara-16
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What is this

Please briefly explain the purpose and the result of this PR.

Details

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  • commit1:
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  • commit3:

TODO

If there is still some work to do. Plase list up as follows:

  • todo1
  • todo2
  • todo3

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sugihara-16 and others added 30 commits March 1, 2024 18:03
@sugihara-16
[Spinal][Dynamixel] transplanted dynamixel interface to spinal
05fd4ca
@sugihara-16
[Spinal][Encoder] modified encorder interface imitating neuron one
af3f910
@sugihara-16
[Spinal] change usart3 bardrate as 1Mbps
e3094c5
@sugihara-16
[Spinal][Servo][WIP] create a new universal interface to control servos
3c8cad0
@sugihara-16
[Spinal][Servo] fix complile erors in servo interface (stil not work)
fc6d98c
@sugihara-16
[Spinal][Servo] add implimentation to call servo interface from main.cpp
d1b0d79
@sugihara-16
[Spinal][Servo][WIP] modifed some details and add MPU setting
8bec34e
@sugihara-16
[Spinal][Servo] add new task to treat servos directly
7e33926
@sugihara-16
[Spinal][Servo] change servo flag name
2521f92
@sugihara-16
[Spinal][Servo][WIP] workaround send command to dynamixel
91d1380
@sugihara-16
[Spinal][Servo] create a new service to set configuration of direct c…
756c41a 
…ontrol servos
@sugihara-16
[Spinal][Servo] workaround to set configuration of direct servos to f…
a499730 
…lashmemory
@sugihara-16
[Spinal][Servo] add interface to set target angle directly
bfcabad
@sugihara-16
[Spinal][Servo] fix some bugs
0adcf56
@sugihara-16
[Spinal][Servo] change the priority of servotask from idle to realtime
2835e21
@sugihara-16
[Spinal][Servo] fixed bug in a function of toruqe enabling
4afb83a
@sugihara-16
[Spinal][Dynamixel] limit the situation in which offset and torque pa…
a6d1bfa 
…rameter can be set to only during torqe off state.
@sugihara-16
[Spinal][Dynamixel] modified maximum servo number from 4 to 8.
0f0cc83
@sugihara-16
[Spinal][servo] Create README for servo interface
7c147cb
@sugihara-16
[Spinal][Servo] resize the servo message as same as maximum servo num.
ae4e197
@sugihara-16
[ServoBridge] workaroud to use servo profiles in spinal firmware.
2fb5a3a
@sugihara-16
[Spinal][Servo] use servo index to indentify servo
8541587
@sugihara-16
[Spinal][Servo] workaround to use rqt to monitor and setup direct ser…
d787196 
…vos.
[Spinal][Servo] debug around reading servo from rqt
77dfc1a
@sugihara-16
Merge pull request #6 from koutarou-kaneko/PR/Spinal/dynamixel
d4567ec 
[Spinal][Servo] debug around reading servo from rqt
[Spinal][Servo] debug around boad configurator
f14dc52
@sugihara-16
Merge pull request #7 from HisaakiIida/PR/Spinal/dynamixel
70b11db
@sugihara-16
Merge branch 'PR/feature/spinal/imu/icm20948' into develop/spinal/jsk…
e09da5e 
…_lib/dynamixel/spinal_v2
@sugihara-16
[Spinal][Servo] change the port for servo control from usart3 to usart2
06f96b4
@sugihara-16
[Spinal][Servo] workaround to use servo and gps simultaneously
d2a33e7
Li-Jinjie and others added 29 commits October 3, 2024 19:46
@Li-Jinjie
[Spinal][Dynamixel] make the send freq. the same as INST_GET_PRESENT_POS
3c7857f
@Li-Jinjie
[Spinal][Dynamixel] refactor code to support quick reading for Dynami…
54ce3fc 
…xel. The current freq. for servo is 100hz, and the current freq. for dshot is 125hz. Tested on real machine.
@Li-Jinjie
[Spinal][Dynamixel] fix a bug after cherry-pick
ec7cfa1
@sugihara-16
[Spinal][DShot][WIP] workaround to use dshot in Spinal 4.1
c8857f9
@sugihara-16
[Spinal][DShot] workaround to use Dshot and ESC telemetry in Spinal v…
43387bb 
…ersion 4.1
@sugihara-16
[Spinal][DShot] modified volatage sensing update procudure
cc7932b
@sugihara-16
Merge branch 'develop/spinal/jsk_lib/dynamixel/spinal_v2' into develo…
97d2059 
…p/Spinal/Dshot
@sugihara-16
[Spinal4.1][DShot] restore the procedure of reading esc telem as prev…
028faee 
…ious version
@sugihara-16
Merge branch 'PR/feature/Spinal_4_1/DShot' into develop/Spinal/Dshot
889a993
@sugihara-16
[Spinal][Config][ver4.1] workaround to enable servo control in spinal…
32cc26f 
… 4.1
@sugihara-16
[Spinal][Config][ver4.1] add roslib build instruction for stm32h7_v2
3915880
@sugihara-16
Merge pull request #8 from Li-Jinjie/PR/Spinal/dynamixel
c526775 
Modify the sequence of reading data
@sugihara-16
Merge branch 'PR/Spinal/dynamixel' into develop/Spinal/Config/ver_4_1
e13e94e
@sugihara-16
[Spinal][Dynamixel] modified servo task priority
d72fdcc
@sugihara-16
[Spinal][Dynamixel] modified max servo number
1081a8f
@sugihara-16
[Spinal][Servo] modified way of gain transmitting to avoid write error
5dabc7e
@sugihara-16
[Spinal][Servo] debug around the method to distinguish invalid servo ID.
9a32c08
@sugihara-16
[Spinal][H7_V1] revert ping uart2 and 3 config as master
8a5dc81
@sugihara-16
[Spinal][Config] add new flag to distinguish special board version
7ca7ffe
@sugihara-16
[Spinal][DirectServo] choose correct MPU region according to board ve…
e300e6e 
…rsion.
@sugihara-16
[Spinal][DirectServo] dynamically configure Pin setting for servo.
83c9461
@sugihara-16
[Spinal][Config][WIP] create separated config files corresponding to …
2e3819c 
…each Spinal board.
@sugihara-16
[Spinal][Config][F7] configure CubeIDE project for SpinalF7 based on …
b455d92 
…its own config.
@sugihara-16
[Spinal][Config][H7] configure CubeIDE project for SpinalH7 based on …
834ad6c 
…its own config.
@sugihara-16
[Spinal][Config][H7_v2] configure CubeIDE project for SpinalH7_v2 bas…
4983cce 
…ed on its own config.
@sugihara-16
[Spinal][F7] update the way to call magencoder
366b3d1
@sugihara-16
[Spinal][H7&H7_V2] modified imu select condition
31599a3
@sugihara-16
[Spinal][config] delete previous common config file.
21a1d58
@sugihara-16
[Spinal][Dshot] deleted unused include path.
4d4c9cc
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2 participants
@sugihara-16 @Li-Jinjie