Merge branch 'main' into testing-calibrate-field-coordinates

Author: Isopod00

config/motor_control.yaml

@@ -19,5 +19,5 @@
     DIGGER_SAFETY_ZONE: 120 # Measured in potentiometer units (0 to 1023)
     CURRENT_SPIKE_THRESHOLD: 1.8 # Threshold for current spike detection (measured in Amps)
     CURRENT_SPIKE_TIME: 0.2 # Time in seconds to consider it a current spike (measured in seconds)
-    BUCKETS_CURRENT_SPIKE_THRESHOLD: 8.0 # Threshold for current spike detection (measured in Amps) # TODO: Tune this
-    BUCKETS_CURRENT_SPIKE_TIME: 0.2 # Time in seconds to consider it a current spike (measured in seconds) # TODO: Tune this
+    BUCKETS_CURRENT_SPIKE_THRESHOLD: 8.0 # Threshold for current spike detection (measured in Amps)
+    BUCKETS_CURRENT_SPIKE_TIME: 0.2 # Time in seconds to consider it a current spike (measured in seconds)

src/digger/digger/digger_node.py

@@ -74,11 +74,11 @@ def __init__(self):
         self.lift_pose_publisher = self.create_publisher(Float32, "lift_pose", 10)
 
         # Define default values for our ROS parameters below #
-        self.declare_parameter("digger_lift_manual_power_down", 0.15)
+        self.declare_parameter("digger_lift_manual_power_down", 0.12)
         self.declare_parameter("digger_lift_manual_power_up", 0.5)
         self.declare_parameter("DIGGER_MOTOR", 3)
         self.declare_parameter("DIGGER_ACTUATORS_OFFSET", 12)
-        self.declare_parameter("DIGGER_SAFETY_ZONE", 92)  # Measured in potentiometer units (0 to 1023)
+        self.declare_parameter("DIGGER_SAFETY_ZONE", 120)  # Measured in potentiometer units (0 to 1023)
         # Assign the ROS Parameters to member variables below #
         self.digger_lift_manual_power_down = self.get_parameter("digger_lift_manual_power_down").value
         self.digger_lift_manual_power_up = self.get_parameter("digger_lift_manual_power_up").value

src/motor_control/src/motor_control_node.cpp

@@ -303,10 +303,10 @@ class MotorControlNode : public rclcpp::Node {
     this->declare_parameter("DIGGER_ACTUATORS_kP_coupling", 0.10);
     this->declare_parameter("DIGGER_PITCH_kP", 2.5);
     this->declare_parameter("TIPPING_SPEED_ADJUSTMENT", true);
-    this->declare_parameter("CURRENT_SPIKE_THRESHOLD", 1.8); // TODO: Tune this on the real robot!
-    this->declare_parameter("CURRENT_SPIKE_TIME", 0.2); // TODO: Tune this on the real robot!
-    this->declare_parameter("BUCKETS_CURRENT_SPIKE_THRESHOLD", 8.0); // TODO: Tune this on the real robot!
-    this->declare_parameter("BUCKETS_CURRENT_SPIKE_TIME", 0.2); // TODO: Tune this on the real robot!
+    this->declare_parameter("CURRENT_SPIKE_THRESHOLD", 1.8);
+    this->declare_parameter("CURRENT_SPIKE_TIME", 0.2);
+    this->declare_parameter("BUCKETS_CURRENT_SPIKE_THRESHOLD", 8.0);
+    this->declare_parameter("BUCKETS_CURRENT_SPIKE_TIME", 0.2);
 
     // Print the ROS Parameters to the terminal below #
     RCLCPP_INFO(this->get_logger(), "CAN_INTERFACE_TRANSMIT parameter set to: %s", this->get_parameter("CAN_INTERFACE_TRANSMIT").as_string().c_str());

src/rovr_control/rovr_control/main_control_node.py

@@ -69,11 +69,11 @@ def __init__(self) -> None:
         # Define default values for our ROS parameters below #
         self.declare_parameter("max_drive_power", 1.0)  # Measured in Duty Cycle (0.0-1.0)
         self.declare_parameter("max_turn_power", 1.0)  # Measured in Duty Cycle (0.0-1.0)
-        self.declare_parameter("digger_chain_power", 0.1)  # Measured in Duty Cycle (0.0-1.0)
-        self.declare_parameter("digger_lift_manual_power_down", 0.1)  # Measured in Duty Cycle (0.0-1.0)
+        self.declare_parameter("digger_chain_power", 0.2)  # Measured in Duty Cycle (0.0-1.0)
+        self.declare_parameter("digger_lift_manual_power_down", 0.12)  # Measured in Duty Cycle (0.0-1.0)
         self.declare_parameter("digger_lift_manual_power_up", 0.5)  # Measured in Duty Cycle (0.0-1.0)
-        self.declare_parameter("lift_digging_start_position", 100.0)  # Measured in encoder counts
-        self.declare_parameter("DIGGER_SAFETY_ZONE", 92)  # Measured in potentiometer units (0 to 1023)
+        self.declare_parameter("lift_digging_start_position", 125.0)  # Measured in encoder counts
+        self.declare_parameter("DIGGER_SAFETY_ZONE", 120)  # Measured in potentiometer units (0 to 1023)
         self.declare_parameter("dumper_power", 0.75)  # The power the dumper needs to go
         # The type of field ("cosmic", "top", "bottom", "nasa")
         self.declare_parameter("autonomous_field_type", "cosmic")