d018a9334e
AP_MotorsUGV: add get_slew_limited_throttle
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required by vehicle code to properly handle steering direction in cases where the driver's input throttle has the opposite sign from output throttle because throttle is being slew limited
7 years ago
3db2cc700e
AP_MotorsUGV: positive steering always rotates vehicle right
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also scale steering down with increased speed for regular rovers
add support for disabling scaling of steering
7 years ago
8137001a86
AP_MotorsUGV: minor comment fix
7 years ago
de4e74b910
Rover: added comments to output_omni
7 years ago
aca2c596b4
Rover: Use output_throttle for omni rover motor output
7 years ago
d7e01d83d6
Rover: added is_omni_rover function
7 years ago
341d75e0c9
AP_MotorsUGV: force throttle to zero when disarmed
7 years ago
c69f7bb1d0
AP_MotorsUGV: consolidate parameter sanity checks
7 years ago
38b79cf0bc
AP_MotorsUGV: support vectored thrust
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steering scaled down as throttle increases
7 years ago
4f6240ee8a
Rover: handle oneshot125 separately
7 years ago
4350cee7cf
Rover: added mask to set_output_mode()
7 years ago
c05d239069
Rover: remove throttle scaling dependency on throttle range
7 years ago
fa20fd695f
Rover: use throttle_min param as output deadzone
7 years ago
ebe3ec88a7
AP_MotorsUGV: pre arm check if regular and skid steering configured
7 years ago
97e87e2150
AP_MotorsUGV: skid steering always uses full range
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Allows skid friction to be removed
7 years ago
87658e6a07
AP_MotorsUGV: add MOT_THST_EXPO to scale output to motors
7 years ago
bee8741b60
AP_MotorsUGV: order methods in cpp file to match h
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non-functional change
7 years ago
6d472376bb
AP_MotorsUGV: do not limit just because of saturation
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steering and throttle limit flags should only be set when there is no point in the caller passing in higher values because it will not result in an increased response. In the case of saturation, higher inputs will still result in a higher response.
7 years ago
8f1857759f
AP_MotorsUGV: allow larger MOT_SLEWRATE values
7 years ago
78275ec4a1
AP_MotorsUGV: throttle slew updates motor limit flags
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this ensure I-term build-up doesn't happen when the slew
causes the throttle to react slowly
7 years ago
6d805b64b6
AP_MotorsUGV: remove access to enable/disable throttle slewing
7 years ago
005002736b
AP_MotorsUGV: fix MOT_SLEWRATE parameter description
7 years ago
d57f307032
Rover: use cork/push wrapper
7 years ago
74d5767e25
Rover: Fix slew rate range
7 years ago
2c568f8046
Rover: minor parameter description change
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non-functional change
7 years ago
9f67d2a88d
Rover: add MOT_SKID_FRIC to up skid-steer motor out while stopped
7 years ago
2f1cc5ddfc
Rover: support brushed motor on normal rover
8 years ago
25b1307400
Rover: solve servo reverse in brushed configuration
8 years ago
3f1271214e
Rover: rename MotorsUGV pwm type to brush-with-relay
8 years ago
46e6057493
Rover: solve servo reverse in brushed configuration
8 years ago
a035950a22
Rover: minor format fix
8 years ago
c8eceeabb6
AP_MotorsUGV: add THR_MIN, THR_MAX parameters
8 years ago
c61f965828
AP_MotorsUGV: re-order implementation to match declaration
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non-functional change
8 years ago
a5783939ef
AP_MotorsUGV: add limit flags
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These flags become true when the steering servo or motors hit their
limits. used to stop I-term build-up in higher level controllers.
8 years ago
28d74722bd
AP_MotorsUGV: minor formatting fix
8 years ago
e5b746c7dd
AP_MotorsUGV: fix motor test sequence
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motor test sequence starts from 1
8 years ago
7bfb79a4b7
AP_MotorsUGV: add motor_output_test_pwm
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this allows the ground station to test a motor by requesting a specific pwm value
8 years ago
2cd3dd5cba
AP_MotorsUGV: add motor output test
8 years ago
8421575f05
AP_MotorsUGV: add output_throttle to handle scaling and relay
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this function hides the difference in scaling between the regular throttle
(-100 to +100) and the throttleLeft and throttleRight (-1000 to +1000)
Also handles the setting of the relay for brushed-with-relay motors
8 years ago
6464bfb601
MotorsUGV: set failsafe output
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This informs the I/O board to stop sending pwm if the I/O board loses
contact with the main CPU
8 years ago
f8a564f283
Rover: rename BRUSHEDPLUS to BRUSHEDBIPOLAR
8 years ago
8ab3e83a3c
Rover: use float qualifier and functions
8 years ago
1f0c985dec
Rover: add setup_servo_output to allow ouput reconfiguration
8 years ago
29c59644b7
AP_MotorsUGV: add BrushedPlus motor type
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BrushedPlus are brushed motors with separate throttle and steering pwm
inputs
8 years ago
76c9d3982a
AP_MotorsUGV: motors lib for Rover
8 years ago
Randy Mackay
Ammarf
Andrew Tridgell
Daniel Widmann
khancyr