HWI Upgrades#110
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IshanDutta11
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May 3, 2026
IshanDutta11
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- Changes motor status broadcaster into motor status controller. It processes maintenance and status requests
- For status requests, specify joint name and frequency to send status requests.
- For maintenance requests, specify joint name, command to send, and values required for frame. The controller converts the frame data into 2 doubles, transmits it to the HWI to be decoded, and encodes the necessary frame in little endian form and sends it across the CAN line
- Publishes status messages: /motor_status_controller/motor_status
- Includes CAN commanded LED, Limit Switch, Power Module, and Rotary Encoder HWIs
- Applied HWIs in necessary subsystems
- Updated the structure for HWIs so they are much more readable
…d interfaces working)
… and then start doing doing this implementation on the rest of the HWIs
…rfaces if default don't apply
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As of 05/10/2026, it has been tested on the arm, drive, and science subsystems. |
mdurrani808
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May 10, 2026
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how i be hitting approve on this
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