Rotor position publisher #7
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Thanks for submitting the pull request. I missed seeing it. It's pretty extensive - let me take some time to test. |
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Sure, thanks! |
brentyi
commented
Mar 10, 2017
| // "encoder" is probably the most useful | ||
| std::string rotor_position_source; | ||
| if (private_nh.getParam("rotor_position_source", rotor_position_source)) { | ||
| disp_pos_mode mode = DISP_POS_MODE_NONE; |
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@mboulet
one small thing i was wondering about: do you think this mode should be abstracted into vesc_interface, perhaps through a separate function for each display mode?
it feels slightly more "correct" to do so but would introduce some bloat
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Hi there!
I just added a bit of code for reading and publishing rotor position data from the various sources the VESC makes available. (encoder data is definitely the most useful)
I added a parameter for setting the source of our position data, which is then published to a
sensors/rotor_positiontopic.Some of the naming is a little confusing, but it was the most readable I could come up with while maintaining consistency with the VESC's firmware.
Feedback would be appreciated!