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Temporarily set talon to disabled before giving a new setpoint in motionmagic mode #74

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Temporarily set talon to disabled before giving a new setpoint in motionmagic mode #74

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069bd01
Updated version of gs_usb kernel module - not sure it helps
kjaget Apr 29, 2019
b3cf432
Temporarily set talon to disabled before giving a new setpoint
kjaget Apr 12, 2019
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Binary file added jetson_setup/gs_usb.ko.4.4.38-tegra-patched
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9 changes: 9 additions & 0 deletions zebROS_ws/src/ros_control_boilerplate/src/frcrobot_hw_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2174,6 +2174,15 @@ void FRCRobotHWInterface::write(ros::Duration &elapsed_time)
ts.setDemand1Type(demand1_type_internal);
ts.setDemand1Value(demand1_value);

// I think motionmagic calculates a path from currrent setpoint to new setpoint
// If we didn't actually make it to the previous setpoint, this will cause
// problems with random accumulating error. It looks like going from disabled
// back to motionmagic causes the talon to path from current encoder value
// to new setpoint. Temporarily disable the talon before sending a new setpoint
// in motionmagic mode to trigger this behavior.
if (b2 && (in_mode == hardware_interface::TalonMode_MotionMagic))
talon->Set(ctre::phoenix::motorcontrol::ControlMode::Disabled,
command, demand1_type_phoenix, demand1_value);
talon->Set(out_mode, command, demand1_type_phoenix, demand1_value);
}
}
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