[EPIC] Arm Control Refactor
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vexandmore commented
With new codebase for the CAN bus wheels, the arm control code needs to be rewritten. It is very messy right now, with a mix of code handling the logitech joystick, 3d mouse, and ps4 controller.
It will allow for the following control modes:
- Wheel control
- Arm control - forward kinematics (directly set each motor speed)
- Arm control - IK
Ideally it would support multiple controllers:
- Logitech joystick
- PS4 controller
This new code should be composed of the following parts:
- New message types for joy_mapper (#632)
There are two other nice to haves: - A joy_mapper node which listens to joystick messages and outputs to separate topics for different modes (#633)
- arm_control, wheel_control nodes which receive values for the arm and wheel motors and send them to the motors (#636 )
- absenc_node which receives absolute angle values and the control system to set motor angles in IK mode (#636)
- IKNode which performs IK calculations (#636)
- Using a PID as control system for motors (#628)