STEP10 controlInterrupt関数のモータオフしきい値、タイヤ角度更新処理の修正

[ShotaAk]

モータOFF時にタイヤ角度の更新も止める

What does this implement/fix?

controlInterrupt関数の下記の問題を修正します

• モータをオフする最低速度の単位がm/s と mm/sで整合性取れてない。
  • 「タイヤ速度が0.001を下回ったら走行停止」という処理が書かれているが、タイヤ速度の単位はmm/sのため、cmd_velを極小にしないと走行停止しない
• 低速時は実機が止まってもjoint_stateは回転し続ける。

修正方法

• モータをオフする最低速度MIN_SPEEDに統一します。
• 左右のタイヤ速度がMIN_SPEEDを下回ったらモータをオフし、odomとjointの更新を止めます。

Does this close any currently open issues?

いいえ

How has this been tested?

• Pi:Coのサンプルを実行し、cmd_velの直進速度が約0.030 m/sを下回るとモータが停止することを確認しました
• cmd_velを極小にしPi:Co実機が止まると、joint_statesの角度が更新されなくなることを確認しました

Any other comments?

後ほど別PRでファイル名interrupt.inoに修正します。

Checklists

• I have read the CONTRIBUTING guidelines.
  • If there is no guideline in the repository, rt-net organization's guideline applies.
• I have checked to ensure there aren't other open Pull Requests for the same change.

[github-actions]

Memory usage change @ 6c6dca5

Board	flash	%	RAM for global variables	%
esp32:esp32:esp32s3	💚 -160 - 0	-0.01 - 0.0	0 - 0	0.0 - 0.0

Click for full report table

Board	uROS_STEP1_LED flash	%	uROS_STEP1_LED RAM for global variables	%	uROS_STEP2_SWITCH flash	%	uROS_STEP2_SWITCH RAM for global variables	%	uROS_STEP3_Buzzer flash	%	uROS_STEP3_Buzzer RAM for global variables	%	uROS_STEP4_Sensor flash	%	uROS_STEP4_Sensor RAM for global variables	%	uROS_STEP5_Straight flash	%	uROS_STEP5_Straight RAM for global variables	%	uROS_STEP6_rotate flash	%	uROS_STEP6_rotate RAM for global variables	%	uROS_STEP7_P_control flash	%	uROS_STEP7_P_control RAM for global variables	%	uROS_STEP8_micromouse flash	%	uROS_STEP8_micromouse RAM for global variables	%	uROS_STEP9_twistMsg flash	%	uROS_STEP9_twistMsg RAM for global variables	%	uROS_STEP10_tfMsg flash	%	uROS_STEP10_tfMsg RAM for global variables	%	uROS_STEP11_SensorMsg flash	%	uROS_STEP11_SensorMsg RAM for global variables	%	uROS_STEP12_micromouse flash	%	uROS_STEP12_micromouse RAM for global variables	%
esp32:esp32:esp32s3	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	-160	-0.01	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,uROS_STEP1_LED<br>flash,%,uROS_STEP1_LED<br>RAM for global variables,%,uROS_STEP2_SWITCH<br>flash,%,uROS_STEP2_SWITCH<br>RAM for global variables,%,uROS_STEP3_Buzzer<br>flash,%,uROS_STEP3_Buzzer<br>RAM for global variables,%,uROS_STEP4_Sensor<br>flash,%,uROS_STEP4_Sensor<br>RAM for global variables,%,uROS_STEP5_Straight<br>flash,%,uROS_STEP5_Straight<br>RAM for global variables,%,uROS_STEP6_rotate<br>flash,%,uROS_STEP6_rotate<br>RAM for global variables,%,uROS_STEP7_P_control<br>flash,%,uROS_STEP7_P_control<br>RAM for global variables,%,uROS_STEP8_micromouse<br>flash,%,uROS_STEP8_micromouse<br>RAM for global variables,%,uROS_STEP9_twistMsg<br>flash,%,uROS_STEP9_twistMsg<br>RAM for global variables,%,uROS_STEP10_tfMsg<br>flash,%,uROS_STEP10_tfMsg<br>RAM for global variables,%,uROS_STEP11_SensorMsg<br>flash,%,uROS_STEP11_SensorMsg<br>RAM for global variables,%,uROS_STEP12_micromouse<br>flash,%,uROS_STEP12_micromouse<br>RAM for global variables,%
esp32:esp32:esp32s3,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,-160,-0.01,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0

[ShotaAk]

@aoki-rt
さらに提案ですが、

左右のモータ速度がMIN_SPEEDを下回ったら走行停止する（odomとjointの更新を止める）
という仕様にしたらMOTOR_OFF_THRESHOLDが不要になります。

修正版をコミットします。

[github-actions]

Memory usage change @ 6c6dca5

Board	flash	%	RAM for global variables	%
esp32:esp32:esp32s3	💚 -160 - 0	-0.01 - 0.0	0 - 0	0.0 - 0.0

Click for full report table

Board	uROS_STEP1_LED flash	%	uROS_STEP1_LED RAM for global variables	%	uROS_STEP2_SWITCH flash	%	uROS_STEP2_SWITCH RAM for global variables	%	uROS_STEP3_Buzzer flash	%	uROS_STEP3_Buzzer RAM for global variables	%	uROS_STEP4_Sensor flash	%	uROS_STEP4_Sensor RAM for global variables	%	uROS_STEP5_Straight flash	%	uROS_STEP5_Straight RAM for global variables	%	uROS_STEP6_rotate flash	%	uROS_STEP6_rotate RAM for global variables	%	uROS_STEP7_P_control flash	%	uROS_STEP7_P_control RAM for global variables	%	uROS_STEP8_micromouse flash	%	uROS_STEP8_micromouse RAM for global variables	%	uROS_STEP9_twistMsg flash	%	uROS_STEP9_twistMsg RAM for global variables	%	uROS_STEP10_tfMsg flash	%	uROS_STEP10_tfMsg RAM for global variables	%	uROS_STEP11_SensorMsg flash	%	uROS_STEP11_SensorMsg RAM for global variables	%	uROS_STEP12_micromouse flash	%	uROS_STEP12_micromouse RAM for global variables	%
esp32:esp32:esp32s3	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	-160	-0.01	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,uROS_STEP1_LED<br>flash,%,uROS_STEP1_LED<br>RAM for global variables,%,uROS_STEP2_SWITCH<br>flash,%,uROS_STEP2_SWITCH<br>RAM for global variables,%,uROS_STEP3_Buzzer<br>flash,%,uROS_STEP3_Buzzer<br>RAM for global variables,%,uROS_STEP4_Sensor<br>flash,%,uROS_STEP4_Sensor<br>RAM for global variables,%,uROS_STEP5_Straight<br>flash,%,uROS_STEP5_Straight<br>RAM for global variables,%,uROS_STEP6_rotate<br>flash,%,uROS_STEP6_rotate<br>RAM for global variables,%,uROS_STEP7_P_control<br>flash,%,uROS_STEP7_P_control<br>RAM for global variables,%,uROS_STEP8_micromouse<br>flash,%,uROS_STEP8_micromouse<br>RAM for global variables,%,uROS_STEP9_twistMsg<br>flash,%,uROS_STEP9_twistMsg<br>RAM for global variables,%,uROS_STEP10_tfMsg<br>flash,%,uROS_STEP10_tfMsg<br>RAM for global variables,%,uROS_STEP11_SensorMsg<br>flash,%,uROS_STEP11_SensorMsg<br>RAM for global variables,%,uROS_STEP12_micromouse<br>flash,%,uROS_STEP12_micromouse<br>RAM for global variables,%
esp32:esp32:esp32s3,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,-160,-0.01,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0

[ShotaAk]

最新コミットに合わせて、PRの概要コメントを修正しました

[github-actions]

Memory usage change @ e897b96

Board	flash	%	RAM for global variables	%
esp32:esp32:esp32s3	💚 -164 - 0	-0.01 - 0.0	0 - 0	0.0 - 0.0

Click for full report table

Board	uROS_STEP1_LED flash	%	uROS_STEP1_LED RAM for global variables	%	uROS_STEP2_SWITCH flash	%	uROS_STEP2_SWITCH RAM for global variables	%	uROS_STEP3_Buzzer flash	%	uROS_STEP3_Buzzer RAM for global variables	%	uROS_STEP4_Sensor flash	%	uROS_STEP4_Sensor RAM for global variables	%	uROS_STEP5_Straight flash	%	uROS_STEP5_Straight RAM for global variables	%	uROS_STEP6_rotate flash	%	uROS_STEP6_rotate RAM for global variables	%	uROS_STEP7_P_control flash	%	uROS_STEP7_P_control RAM for global variables	%	uROS_STEP8_micromouse flash	%	uROS_STEP8_micromouse RAM for global variables	%	uROS_STEP9_twistMsg flash	%	uROS_STEP9_twistMsg RAM for global variables	%	uROS_STEP10_tfMsg flash	%	uROS_STEP10_tfMsg RAM for global variables	%	uROS_STEP11_SensorMsg flash	%	uROS_STEP11_SensorMsg RAM for global variables	%	uROS_STEP12_micromouse flash	%	uROS_STEP12_micromouse RAM for global variables	%
esp32:esp32:esp32s3	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	-164	-0.01	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,uROS_STEP1_LED<br>flash,%,uROS_STEP1_LED<br>RAM for global variables,%,uROS_STEP2_SWITCH<br>flash,%,uROS_STEP2_SWITCH<br>RAM for global variables,%,uROS_STEP3_Buzzer<br>flash,%,uROS_STEP3_Buzzer<br>RAM for global variables,%,uROS_STEP4_Sensor<br>flash,%,uROS_STEP4_Sensor<br>RAM for global variables,%,uROS_STEP5_Straight<br>flash,%,uROS_STEP5_Straight<br>RAM for global variables,%,uROS_STEP6_rotate<br>flash,%,uROS_STEP6_rotate<br>RAM for global variables,%,uROS_STEP7_P_control<br>flash,%,uROS_STEP7_P_control<br>RAM for global variables,%,uROS_STEP8_micromouse<br>flash,%,uROS_STEP8_micromouse<br>RAM for global variables,%,uROS_STEP9_twistMsg<br>flash,%,uROS_STEP9_twistMsg<br>RAM for global variables,%,uROS_STEP10_tfMsg<br>flash,%,uROS_STEP10_tfMsg<br>RAM for global variables,%,uROS_STEP11_SensorMsg<br>flash,%,uROS_STEP11_SensorMsg<br>RAM for global variables,%,uROS_STEP12_micromouse<br>flash,%,uROS_STEP12_micromouse<br>RAM for global variables,%
esp32:esp32:esp32s3,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,-164,-0.01,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0

[github-actions]

Memory usage change @ a80bb79

Board	flash	%	RAM for global variables	%
esp32:esp32:esp32s3	💚 -164 - 0	-0.01 - 0.0	0 - 0	0.0 - 0.0

Click for full report table

Board	uROS_STEP1_LED flash	%	uROS_STEP1_LED RAM for global variables	%	uROS_STEP2_SWITCH flash	%	uROS_STEP2_SWITCH RAM for global variables	%	uROS_STEP3_Buzzer flash	%	uROS_STEP3_Buzzer RAM for global variables	%	uROS_STEP4_Sensor flash	%	uROS_STEP4_Sensor RAM for global variables	%	uROS_STEP5_Straight flash	%	uROS_STEP5_Straight RAM for global variables	%	uROS_STEP6_rotate flash	%	uROS_STEP6_rotate RAM for global variables	%	uROS_STEP7_P_control flash	%	uROS_STEP7_P_control RAM for global variables	%	uROS_STEP8_micromouse flash	%	uROS_STEP8_micromouse RAM for global variables	%	uROS_STEP9_twistMsg flash	%	uROS_STEP9_twistMsg RAM for global variables	%	uROS_STEP10_tfMsg flash	%	uROS_STEP10_tfMsg RAM for global variables	%	uROS_STEP11_SensorMsg flash	%	uROS_STEP11_SensorMsg RAM for global variables	%	uROS_STEP12_micromouse flash	%	uROS_STEP12_micromouse RAM for global variables	%
esp32:esp32:esp32s3	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	-164	-0.01	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,uROS_STEP1_LED<br>flash,%,uROS_STEP1_LED<br>RAM for global variables,%,uROS_STEP2_SWITCH<br>flash,%,uROS_STEP2_SWITCH<br>RAM for global variables,%,uROS_STEP3_Buzzer<br>flash,%,uROS_STEP3_Buzzer<br>RAM for global variables,%,uROS_STEP4_Sensor<br>flash,%,uROS_STEP4_Sensor<br>RAM for global variables,%,uROS_STEP5_Straight<br>flash,%,uROS_STEP5_Straight<br>RAM for global variables,%,uROS_STEP6_rotate<br>flash,%,uROS_STEP6_rotate<br>RAM for global variables,%,uROS_STEP7_P_control<br>flash,%,uROS_STEP7_P_control<br>RAM for global variables,%,uROS_STEP8_micromouse<br>flash,%,uROS_STEP8_micromouse<br>RAM for global variables,%,uROS_STEP9_twistMsg<br>flash,%,uROS_STEP9_twistMsg<br>RAM for global variables,%,uROS_STEP10_tfMsg<br>flash,%,uROS_STEP10_tfMsg<br>RAM for global variables,%,uROS_STEP11_SensorMsg<br>flash,%,uROS_STEP11_SensorMsg<br>RAM for global variables,%,uROS_STEP12_micromouse<br>flash,%,uROS_STEP12_micromouse<br>RAM for global variables,%
esp32:esp32:esp32s3,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,-164,-0.01,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0

[aoki-rt]

低速時暴走しないことを確認しました。