HWI Upgrades#110

Merged

IshanDutta11 merged 37 commits into

umdloop:mainfrom

IshanDutta11:hwi-upgrades

May 11, 2026

Commits on May 10, 2026

saving changes

duttaishan01
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changed broadcaster to controller and included other telemetry information

IshanDutta11
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odrive upgrades

IshanDutta11
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saving progress

IshanDutta11
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added request services

duttaishan01
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included status decoding in RMDs

IshanDutta11
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decode error value and warn/error out depending on response

IshanDutta11
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reformatted rmd HWI

duttaishan01
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saving some one shot progress

IshanDutta11
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all i know is pain (i think i got encoding and decoding across command interfaces working)

duttaishan01
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holy fucking shit it worksgit status Need to implement Torque control and then start doing doing this implementation on the rest of the HWIs

IshanDutta11
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saving smc progress

duttaishan01
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im sorry to whoever is reading this

IshanDutta11
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saving some progress

IshanDutta11
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updated smc hwi, issue with servo hwi

duttaishan01
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fixed state issue, accepts all state interfaces and filters accordingly

IshanDutta11
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saving progress, killswitch seems to not be sending can messages for some reason

IshanDutta11
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saving changes, for some reason I cant see power module can commands being sent

IshanDutta11
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Power module and SMCs seem to be working, initial implementation of LED HWI created

IshanDutta11
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led hwi looks like its working

IshanDutta11
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added limit switch and rotary encoder HWI, included all necessary HWIs, needs fixing

duttaishan01
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fixed motor status controller, manually choose command and state interfaces if default don't apply

duttaishan01
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3dof specific fixes

duttaishan01
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motor status controller includes gpios, removing unnecessary gpio controllers

IshanDutta11
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Added DC Motor HWI

HGardiner1
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Small changes to DC Motor HWI

HGardiner1
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Fixing HWI issue

HGardiner1
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Small Fix

HGardiner1
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First test for steppers

HGardiner1
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Moved revised athena_science code to monorepo

HGardiner1
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Fixing Science Controller + HWI Templates for Steppers & Servos

HGardiner1
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Restore accidentally deleted science.mock.ros2_control.xacro

HGardiner1
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stepper stuff like kinda works??

IshanDutta11
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implemented and tested in virtual can servo, stepper, and dc HWIs

IshanDutta11
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working arm and steppers/DC motors

IshanDutta11
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WORKING DRIVE AND ARM

umdloop-admin
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IshanDutta11
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uhh quick random fixes lul
umdloop-admin
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