Project | Task | Project Manager |
|---|---|---|
Drivetrain | Modify CAN Wrapper with new msg IDs |
Task Description
Need for project: A CAN Wrapper for converting ROS2 msgs → CAN msgs is essential. This allows us to do precise motor control and get information about the current encoder position for any given motor. These CAN messages not only control the motors but communicate with the motor encoders, allowing us to receive encoder information that can be used for localization in autonomy or for speed reading for the driver GUI.
Goal: Understand the current CAN Wrapper, Replace the motor CAN IDs with new IDs and test can with the motors to ensure proper functionality.
Requirements:
- Must be able to send CAN messages to control the motor speeds.
- Must be able to read from the encoders
Supporting Resources:
Constraints
Constraints | Author | Appended Date |
|---|---|---|
Ideally, any modification works with the current CAN Wrapper: | N/A |
Subteam Contacts
Subteam | Contact | Description |
|---|
Subteam | Contact | Description |
|---|---|---|
Software/Firmware | Alex Szabo: | For ROS2 Questions |
Firmware | Josh Magder: | For CAN and general questions |
Assignees
Assignee | Monday Task | Date |
|---|---|---|
XX |
Task Progression/Updates
Author: @person: 2024/05/04
UPDATE
Bullet points for updates
Communication
Communication must be proactive. The subteam lead will check in with you at least once a week to get a progress report update, but it is very important that when a roadblock occurs, you reach out for help and update Monday with a blocked or stuck status.
Blocked: for tasks that have dependencies on other projects that have not been completed yet
Stuck: you are unable to get something working.
Documentation
Upon making progression updates, please update the documentation page for this project with any critical information and resources.
Add documentation to this document: Drivetrain Software
Documentation Guide: SW/FW Documentation Guideline