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RSDK-779: Add Support For Dimension Engineering Sabertooth Motor Controller #1498

Merged
merged 15 commits into from
Nov 4, 2022
Merged

RSDK-779: Add Support For Dimension Engineering Sabertooth Motor Controller #1498

merged 15 commits into from
Nov 4, 2022

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thegreatco
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npmenard
npmenard approved these changes Oct 21, 2022
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LGTM: would just add a couple of tests for bad config.

stevebriskin
stevebriskin requested changes Oct 21, 2022
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components/motor/dimensionengineering/sabertooth.go Outdated Show resolved Hide resolved
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@edaniels edaniels added appimage Build AppImage of PR and removed appimage Build AppImage of PR labels Oct 24, 2022
@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Oct 25, 2022
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Oct 25, 2022
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 4, 2022
@stevebriskin
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you can probably remove the servo rc file. there was a bug in the past that re-generated it but it has since been fixed.

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 4, 2022
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github-actions bot commented Nov 4, 2022

Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 59% 0.00% ➖
go.viam.com/rdk/components/arm/universalrobots 12% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 2% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 7% 0.00% ❌
go.viam.com/rdk/components/audioinput 55% 0.00% ➖
go.viam.com/rdk/components/base 68% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 76% 0.00% ✅
go.viam.com/rdk/components/board 69% 0.00% ➖
go.viam.com/rdk/components/board/arduino 10% 0.00% ❌
go.viam.com/rdk/components/board/commonsysfs 47% 0.00% ❌
go.viam.com/rdk/components/board/fake 39% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 66% -0.27% ➖
go.viam.com/rdk/components/camera/fake 67% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 72% +1.27% ✅
go.viam.com/rdk/components/camera/transformpipeline 81% +0.40% ✅
go.viam.com/rdk/components/camera/videosource 55% 0.00% ➖
go.viam.com/rdk/components/encoder/fake 77% 0.00% ✅
go.viam.com/rdk/components/gantry 68% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 84% 0.00% ✅
go.viam.com/rdk/components/gripper 82% 0.00% ✅
go.viam.com/rdk/components/input 86% 0.00% ✅
go.viam.com/rdk/components/input/gpio 83% 0.00% ✅
go.viam.com/rdk/components/motor 82% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% N/A ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 58% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 63% -0.45% ➖
go.viam.com/rdk/components/motor/gpiostepper 57% 0.00% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/movementsensor 67% 0.00% ➖
go.viam.com/rdk/components/movementsensor/cameramono 40% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 37% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 28% 0.00% ❌
go.viam.com/rdk/components/posetracker 88% 0.00% ✅
go.viam.com/rdk/components/sensor 88% 0.00% ✅
go.viam.com/rdk/components/sensor/ultrasonic 34% 0.00% ❌
go.viam.com/rdk/components/servo 77% 0.00% ✅
go.viam.com/rdk/config 77% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/motionplan 69% -2.34% ➖
go.viam.com/rdk/operation 84% 0.00% ✅
go.viam.com/rdk/pointcloud 71% 0.00% ✅
go.viam.com/rdk/protoutils 62% 0.00% ➖
go.viam.com/rdk/referenceframe 78% 0.00% ✅
go.viam.com/rdk/registry 88% 0.00% ✅
go.viam.com/rdk/resource 85% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 73% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 93% 0.00% ✅
go.viam.com/rdk/robot/client 80% 0.00% ✅
go.viam.com/rdk/robot/framesystem 68% 0.00% ➖
go.viam.com/rdk/robot/impl 79% 0.00% ✅
go.viam.com/rdk/robot/server 59% 0.00% ➖
go.viam.com/rdk/robot/web 61% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol 75% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol/builtin 25% 0.00% ❌
go.viam.com/rdk/services/baseremotecontrol 75% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 71% 0.00% ✅
go.viam.com/rdk/services/datamanager 62% 0.00% ➖
go.viam.com/rdk/services/datamanager/builtin 78% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 21% 0.00% ❌
go.viam.com/rdk/services/datamanager/datasync 72% 0.00% ✅
go.viam.com/rdk/services/motion 68% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 89% 0.00% ✅
go.viam.com/rdk/services/navigation 54% 0.00% ➖
go.viam.com/rdk/services/sensors 78% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 15% 0.00% ❌
go.viam.com/rdk/services/slam 86% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 73% 0.00% ✅
go.viam.com/rdk/services/vision 82% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/spatialmath 85% 0.00% ✅
go.viam.com/rdk/subtype 96% 0.00% ✅
go.viam.com/rdk/utils 71% 0.00% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 66% (19214 / 29107) -0.17% ➖

stevebriskin
stevebriskin approved these changes Nov 4, 2022
View reviewed changes
components/motor/dimensionengineering/sabertooth.go
errs = append(errs, "invalid max_power_pct, acceptable values are min_power_pct to 100.0")
}
if len(errs) > 0 {
return fmt.Errorf("error validating sabertooth controller config: %s", strings.Join(errs, "\r\n"))
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nice!

@thegreatco thegreatco merged commit 54c9b34 into viamrobotics:main Nov 4, 2022
@thegreatco thegreatco deleted the de-sabertooth branch November 4, 2022 20:51
@bazile-clyde bazile-clyde mentioned this pull request Feb 7, 2023
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@npmenard npmenard npmenard approved these changes

@stevebriskin stevebriskin stevebriskin approved these changes

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5 participants
@thegreatco @stevebriskin @npmenard @edaniels @viambot