Update Xbox Controls

Project	Task	Project Manager

Project	Task	Project Manager
Drivetrain	Modify Code to implement arcade drive	@Alex Szabo

Task Description

Need for project: Currently, the control for the rover is binary, where the rover can only go one forward, backward, left or right at any given time. This, however, is not the most efficient or intuitive way to control the rover. Instead, the arcade drive allows for a combination of these commands, whereas linear and rotational motion can now be combined to control the motors and offer more flexibility. This is called an arcade drive. In addition to this, speed ramping would be preferred to allow for smoother acceleration and stopping. To do this, PID control should be used.

Goal: Implement an arcade drive on top of the current Xbox controller logic and PID for speed ramping

Requirements:

Arcade drive functions properly with all combinations of quadrants, giving the expected output

PID control allows for smooth yet quick speed ramping.

Supporting Resources:

Arcade Drive - Robotics Simplified

https://github.com/billylin609/DrivetrainController/blob/develop_feature_arcade_contoller/STM/Core/Src/arcade_controller.c
PID Controller — ROS2_Control: Rolling Nov 2024 documentation

Constraints

Constraints	Author	Appended Date

Constraints	Author	Appended Date
N/A	N/A	N/A

Subteam Contacts

Subteam	Contact	Description

Subteam	Contact	Description
Software	Alex Szabo: @Alex Szabo	For ROS2 Questions
Electrical	Yuchen: @Yuchen Lin	Original Code questions and PID

Assignees

Assignee	Monday Task	Date

Assignee	Monday Task	Date
XX	Monday Task	Jul 21, 2024

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: Xbox Contoller Input
Documentation Guide: SW/FW Documentation Guideline