Merge branch 'master' into add-drill-actuator

huskyroboticsteam · Jan 28, 2025 · 8ad4deb · 8ad4deb
2 parents 7c6798d + 1b6bd7f
commit 8ad4deb
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Showing 3 changed files with 10 additions and 5 deletions.
diff --git a/src/TunePID.cpp b/src/TunePID.cpp
@@ -52,7 +52,8 @@ const std::map<motorid_t, std::string> motorNameMap = {
 	{motorid_t::wristDiffLeft, "wristDiffLeft"},
 	{motorid_t::hand, "hand"},
 	{motorid_t::activeSuspension, "activeSuspension"},
-	{motorid_t::drillActuator, "drillActuator"}};
+	{motorid_t::drillActuator, "drillActuator"},
+	{motorid_t::drillMotor, "drillMotor"}};
 
 const std::map<std::string, motorid_t> nameToMotorMap = reverseMap(motorNameMap);
 

diff --git a/src/world_interface/data.h b/src/world_interface/data.h
@@ -71,7 +71,8 @@ enum class motorid_t {
 	wristDiffLeft,
 	hand,
 	activeSuspension,
-	drillActuator
+	drillActuator,
+	drillMotor
 };
 
 /** @brief the mounted peripheral on the robot. */

diff --git a/src/world_interface/real_world_constants.h b/src/world_interface/real_world_constants.h
@@ -103,7 +103,8 @@ constexpr auto motorSerialIDMap = frozen::make_unordered_map<motorid_t, can::dev
 	 {motorid_t::wristDiffRight, DEVICE_SERIAL_MOTOR_WRIST_DIFF_RIGHT},
 	 {motorid_t::hand, DEVICE_SERIAL_MOTOR_HAND},
 	 {motorid_t::activeSuspension, DEVICE_SERIAL_LINEAR_ACTUATOR},
-	 {motorid_t::drillActuator, DEVICE_SERIAL_DRILL_ARM_MOTOR}});
+	 {motorid_t::drillActuator, DEVICE_SERIAL_DRILL_ARM_MOTOR},
+	 {motorid_t::drillMotor, DEVICE_SERIAL_DRILL_MOTOR}});
 
 /** @brief A mapping of PID controlled motors to their pid coefficients. */
 constexpr auto motorPIDMap = frozen::make_unordered_map<motorid_t, pidcoef_t>(
@@ -134,7 +135,8 @@ constexpr auto positive_pwm_scales =
 												   {motorid_t::rearRightSwerve, 1.0},
 												   {motorid_t::hand, -0.75},
 												   {motorid_t::activeSuspension, -0.5},
-												   {motorid_t::drillActuator, -0.5}});
+												   {motorid_t::drillActuator, -0.5},
+												   {motorid_t::drillMotor, 1.0}});
 /**
  * @brief A mapping of motorids to power scale factors when commanded with negative power.
  * Negative values mean that the motor is inverted.
@@ -156,6 +158,7 @@ constexpr auto negative_pwm_scales =
 												   {motorid_t::rearRightSwerve, 1.0},
 												   {motorid_t::hand, -0.75},
 												   {motorid_t::activeSuspension, -0.5},
-												   {motorid_t::drillActuator, -0.5}});
+												   {motorid_t::drillActuator, -0.5},
+												   {motorid_t::drillMotor, 1.0}});
 
 } // namespace robot