/panda_control_for_intern

Primary LanguageC++

PANDA CONTROL PROJECT FOR DYROS INTERNS

How to use

  1. fork this repo alt text

  2. clone your repo in intern_ws (in panda_rcu)

cd ~/intern_ws # enter intern workspace

mkdir your_name # make your own workspace
cd your_name # enter the workspace

# clone your codes
git clone https://github.com/your_id/panda_control_for_intern

# enter the cloned project
cd panda_control_for_intern

# build the project
mkdir build
cmake .. -DCMAKE_BUILD_TYPE=RELEASE
make -j9
  1. run
# in panda_control_for_intern/build

# position controlled
./panda_position_controller


# torque controlled
./panda_torque_controller
  1. how to edit codes
  • src/main_torque_control.cpp: main enterance of the torque controller program.
  • src/main_position_control.cpp: main enterance of the position controller program.
  • src/controller.cpp, include/controller.h: controller codes.

Troubleshooting

  1. communication_constraints_violation:

    • Plase confirm that the project is built with -DCMAKE_BUILD_TYPE=RELEASE

  2. UDP receive: Timeout:

    • ask for help with the results of 3. simple ping test

  3. simple ping test

    sudo ping 172.16.2.2 -i 0.001 -D -c 10000 -s 1200