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Fec update odom params #18

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Fec update odom params #18

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999c118
changed odom params
CornerStoneF Jul 7, 2022
d774565
updated odom params and added gear ratio history
CornerStoneF Jul 7, 2022
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19 changes: 10 additions & 9 deletions launch/evo_base_4_lift_driver.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
<param name="enable_lift_control" value="true" />
<param name="debug_motor_mapping" value="false" />

<param name="wheel_radius_in_m" value="0.05" />
<param name="wheel_radius_in_m" value="0.047" />
<param name="wheel_distance_front_back_in_m" value="0.45" />
<param name="wheel_distance_left_right_in_m" value="0.4" />

Expand All @@ -49,6 +49,7 @@
<!-- Motor Mapping drives: 0 = no_pos, 1=front_left, 2=front_right, 3=back_right, 4=back_left-->
<!-- Motor Types: 0 = no_type, 1=lift, 2=drive-->

<!-- Possible gear ratios: 29.3; 22.909; 15.909-->

<group ns="$(arg NodeName)">
<param name="init_n_motorshields" value="4" />
Expand All @@ -66,8 +67,8 @@
<param name="kd" value="0.0" />
<param name="pwm_limit" value="100.0" />
<param name="rpm_limit" value="200.0" />
<param name="gear_ratio" value="22.4" />
<param name="encoder_res" value="1024.0" />
<param name="gear_ratio" value="22.909" />
<param name="encoder_res" value="512.0" />
<param name="adc_conv" value="0.0" />
<param name="adc_offs" value="0.0" />
<param name="motor_mapping" value="3" />
Expand All @@ -82,8 +83,8 @@
<param name="kd" value="0.0" />
<param name="pwm_limit" value="100.0" />
<param name="rpm_limit" value="200.0" />
<param name="gear_ratio" value="22.4" />
<param name="encoder_res" value="1024.0" />
<param name="gear_ratio" value="22.909" />
<param name="encoder_res" value="512.0" />
<param name="adc_conv" value="0.0" />
<param name="adc_offs" value="0.0" />
<param name="motor_mapping" value="2" />
Expand All @@ -104,8 +105,8 @@
<param name="kd" value="0.0" />
<param name="pwm_limit" value="100.0" />
<param name="rpm_limit" value="200.0" />
<param name="gear_ratio" value="22.4" />
<param name="encoder_res" value="1024.0" />
<param name="gear_ratio" value="22.909" />
<param name="encoder_res" value="512.0" />
<param name="adc_conv" value="0.0" />
<param name="adc_offs" value="0.0" />
<param name="motor_mapping" value="4" />
Expand All @@ -120,8 +121,8 @@
<param name="kd" value="0.0" />
<param name="pwm_limit" value="100.0" />
<param name="rpm_limit" value="200.0" />
<param name="gear_ratio" value="22.4" />
<param name="encoder_res" value="1024.0" />
<param name="gear_ratio" value="22.909" />
<param name="encoder_res" value="512.0" />
<param name="adc_conv" value="0.0" />
<param name="adc_offs" value="0.0" />
<param name="motor_mapping" value="1" />
Expand Down
20 changes: 11 additions & 9 deletions launch/evo_base_driver.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@
<!-- base params -->
<param name="debug_motor_mapping" value="false" />

<param name="wheel_radius_in_m" value="0.04" />
<param name="wheel_radius_in_m" value="0.047" />
<param name="wheel_distance_front_back_in_m" value="0.60" />
<param name="wheel_distance_left_right_in_m" value="0.325" />

Expand All @@ -51,6 +51,8 @@
<!-- Motor Mapping drives: 0 = no_pos, 1=front_left, 2=front_right, 3=back_right, 4=back_left-->
<!-- Motor Types: 0 = no_type, 1=lift, 2=drive-->

<!-- Possible gear ratios: 29.3; 22.909; 15.909-->

<group ns="$(arg NodeName)">
<param name="init_n_motorshields" value="2" />
<group ns="ms1">
Expand All @@ -66,8 +68,8 @@
<param name="kd" value="0.0" />
<param name="pwm_limit" value="100.0" />
<param name="rpm_limit" value="200.0" />
<param name="gear_ratio" value="22.4" />
<param name="encoder_res" value="1024.0" />
<param name="gear_ratio" value="22.909" />
<param name="encoder_res" value="512.0" />
<param name="adc_conv" value="0.0" />
<param name="adc_offs" value="0.0" />
<param name="motor_mapping" value="3" />
Expand All @@ -82,8 +84,8 @@
<param name="kd" value="0.0" />
<param name="pwm_limit" value="100.0" />
<param name="rpm_limit" value="200.0" />
<param name="gear_ratio" value="22.4" />
<param name="encoder_res" value="1024.0" />
<param name="gear_ratio" value="22.909" />
<param name="encoder_res" value="512.0" />
<param name="adc_conv" value="0.0" />
<param name="adc_offs" value="0.0" />
<param name="motor_mapping" value="2" />
Expand All @@ -104,8 +106,8 @@
<param name="kd" value="0.0" />
<param name="pwm_limit" value="100.0" />
<param name="rpm_limit" value="200.0" />
<param name="gear_ratio" value="22.4" />
<param name="encoder_res" value="1024.0" />
<param name="gear_ratio" value="22.909" />
<param name="encoder_res" value="512.0" />
<param name="adc_conv" value="0.0" />
<param name="adc_offs" value="0.0" />
<param name="motor_mapping" value="4" />
Expand All @@ -120,8 +122,8 @@
<param name="kd" value="0.0" />
<param name="pwm_limit" value="100.0" />
<param name="rpm_limit" value="200.0" />
<param name="gear_ratio" value="22.4" />
<param name="encoder_res" value="1024.0" />
<param name="gear_ratio" value="22.909" />
<param name="encoder_res" value="512.0" />
<param name="adc_conv" value="0.0" />
<param name="adc_offs" value="0.0" />
<param name="motor_mapping" value="1" />
Expand Down