Merge remote-tracking branch 'origin/integration' into percep-second-cam

.vscode/settings.json

@@ -33,7 +33,6 @@
     "python.analysis.typeCheckingMode": "off",
     //// Miscellaneous
     "redhat.telemetry.enabled": false,
-    "editor.formatOnSave": true,
     "git.ignoreSubmodules": true,
     "git.detectSubmodules": false,
     "cSpell.words": [

CMakeLists.txt

@@ -32,7 +32,11 @@ if (MROVER_CI)
     list(APPEND MROVER_CPP_COMPILE_OPTIONS -Werror)
 endif ()
 
-option(MROVER_BUILD_SIM "Build the simulator" ON)
+if (EXISTS ${CMAKE_CURRENT_LIST_DIR}/deps/dawn/out/Release)
+    set(MROVER_BUILD_SIM ON)
+else ()
+    set(MROVER_BUILD_SIM OFF)
+endif ()
 
 include(cmake/macros.cmake)
 
@@ -169,9 +173,10 @@ if (NOT APPLE)
     mrover_add_esw_bridge_node(cache_bridge src/esw/cache_bridge/*.cpp)
     mrover_add_esw_bridge_node(drive_bridge src/esw/drive_bridge/*.cpp)
     mrover_add_esw_bridge_node(led_hw_bridge src/esw/led_hw_bridge/*.cpp)
+    mrover_add_esw_bridge_node(led src/esw/led/*.cpp)
     mrover_add_esw_bridge_node(mast_gimbal_bridge src/esw/mast_gimbal_bridge/*.cpp)
     mrover_add_esw_bridge_node(pdb_bridge src/esw/pdb_bridge/*.cpp)
-    mrover_add_esw_bridge_node(sa_bridge src/esw/sa_bridge/*.cpp)
+#    mrover_add_esw_bridge_node(sa_bridge src/esw/sa_translator_bridge/*.cpp)
     mrover_add_esw_bridge_node(science_bridge src/esw/science_bridge/*.cpp)
     mrover_add_esw_bridge_node(brushless_test_bridge src/esw/brushless_test_bridge/*.cpp motor_library)
     mrover_add_esw_bridge_node(brushed_test_bridge src/esw/brushed_test_bridge/*.cpp)

config/esw.yaml

@@ -113,6 +113,24 @@ brushless_motors:
     joint_a:
       min_velocity: -70.0
       max_velocity: 70.0
+      is_linear: true
+      rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
+      limit_0_present: true
+      limit_1_present: true
+      limit_0_enabled: true
+      limit_1_enabled: true
+      limit_0_limits_fwd: true
+      limit_1_limits_fwd: false
+      limit_0_is_active_high: true
+      limit_1_is_active_high: true
+      limit_0_used_for_readjustment: true
+      limit_1_used_for_readjustment: true
+      limit_0_readjust_position: 1.0 # radians TODO
+      limit_1_readjust_position: 0.0 # raidans
+      limit_max_forward_pos: true
+      limit_max_backward_pos: true
+      max_forward_pos: 1.0
+      max_backward_pos: 0.0
     joint_c:
       min_velocity: -70.0
       max_velocity: 70.0
@@ -122,6 +140,23 @@ brushless_motors:
     joint_de_1:
       min_velocity: -70.0
       max_velocity: 70.0
+    sa_z:
+      min_velocity: -1.0
+      max_velocity: 1.0
+      is_linear: true
+      rad_to_meters_ratio: 1.0 #TODO
+      limit_0_present: true
+      limit_1_present: true
+      limit_0_enabled: true
+      limit_1_enabled: true
+      limit_0_limits_fwd: true
+      limit_1_limits_fwd: false
+      limit_0_is_active_high: true
+      limit_1_is_active_high: true
+      limit_0_used_for_readjustment: true
+      limit_1_used_for_readjustment: true
+      limit_0_readjust_position: 1.0 # radians TODO
+      limit_1_readjust_position: 0.0 # radians TODO
 
 joint_de:
   pitch_offset: 0.0
@@ -135,10 +170,10 @@ brushed_motors:
     #   limit_1_present: false
     #   limit_2_present: false
     #   limit_3_present: false
-    #   limit_0_default_enabled: false
-    #   limit_1_default_enabled: false
-    #   limit_2_default_enabled: false
-    #   limit_3_default_enabled: false
+    #   limit_0_enabled: false
+    #   limit_1_enabled: false
+    #   limit_2_enabled: false
+    #   limit_3_enabled: false
     #   limit_0_is_active_high: true
     #   limit_1_is_active_high: true
     #   limit_2_is_active_high: true
@@ -161,37 +196,40 @@ brushed_motors:
     #   limit_3_readjust_position: 0.0  # radians
     #   quad_ratio: 1.0  # encoder ratio compared to motor
     #   abs_ratio: 1.0  # encoder ratio compared to motor
-    #   abs_encoder_offset: 0.0 # 0 for joint position corresponds to this radians reading by absolute encoder
-    #   driver_voltage: 24.0  # used to calculate max pwm
+    #   abs_offset: 0.0 # 0 for joint position corresponds to this radians reading by absolute encoder
+    #   driver_voltage: 12.0  # used to calculate max pwm
     #   motor_max_voltage: 12.0  # used to calculate max pwm
     #   limit_max_forward_pos: false
     #   limit_max_backward_pos: false
     #   max_forward_pos: 1.0
     #   max_backward_pos: 0.0
+    #   calibration_throttle: 5.0
     joint_b:
       gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
-      limit_0_present: true
-      limit_0_default_enabled: true
-      limit_0_is_active_high: false
+      limit_0_present: false
+      limit_0_enabled: false
+      limit_0_is_active_high: true
       limit_0_limits_fwd: false
       limit_0_used_for_readjustment: true
       abs_present: true
       abs_is_fwd_polarity: true
       limit_0_readjust_position: 0.0 # radians
       abs_ratio: 1.0 # encoder ratio compared to motor
-      abs_encoder_offset: 0.0 # 0 for joint position corresponds to this radians reading by absolute encoder
-      driver_voltage: 24.0 # used to calculate max pwm
+      abs_offset: 0.0 # 0 for joint position corresponds to this radians reading by absolute encoder
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
       limit_max_forward_pos: true
-      max_forward_pos: 1.0
+      min_position: -0.7853981633974483
+      max_position: 0.0
       min_velocity: -1.0
       max_velocity: 1.0
+      calibration_throttle: 0.5  # throttle during calibration
     allen_key:
       gear_ratio: 30.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: true
       limit_1_present: true
-      limit_0_default_enabled: true
-      limit_1_default_enabled: true
+      limit_0_enabled: true
+      limit_1_enabled: true
       limit_0_is_active_high: true
       limit_1_is_active_high: true
       limit_0_limits_fwd: true
@@ -203,23 +241,25 @@ brushed_motors:
       limit_0_readjust_position: 0.0 # radians
       limit_1_readjust_position: 0.0 # radians
       quad_ratio: 1.0 # encoder ratio compared to motor
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
+      calibration_throttle: 0.5  # throttle during calibration
     gripper:
       gear_ratio: 47.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       quad_present: false
       quad_is_fwd_polarity: true
       abs_present: false
       abs_is_fwd_polarity: true
       quad_ratio: 1.0 # encoder ratio compared to motor
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
+      calibration_throttle: 0.5  # throttle during calibration
     mast_gimbal_x:
       gear_ratio: 1000.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: true
       limit_1_present: true
-      limit_0_default_enabled: true
-      limit_1_default_enabled: true
+      limit_0_enabled: true
+      limit_1_enabled: true
       limit_0_is_active_high: true
       limit_1_is_active_high: true
       limit_0_limits_fwd: true
@@ -231,20 +271,23 @@ brushed_motors:
       limit_0_readjust_position: 0.0 # radians
       limit_1_readjust_position: 6.28 # radians
       quad_ratio: 1.0 # encoder ratio compared to motor
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
+      calibration_throttle: 0.5  # throttle during calibration
     mast_gimbal_y:
       gear_ratio: 1000.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 12.0 # used to calculate max pwm
     sa_x:
       gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
+      is_linear: true
+      rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
       limit_0_present: true
       limit_1_present: true
       limit_2_present: true
-      limit_0_default_enabled: true
-      limit_1_default_enabled: true
-      limit_2_default_enabled: true
+      limit_0_enabled: true
+      limit_1_enabled: true
+      limit_2_enabled: true
       limit_0_is_active_high: true
       limit_1_is_active_high: true
       limit_2_is_active_high: true
@@ -259,16 +302,19 @@ brushed_motors:
       limit_0_readjust_position: 0.0 # radians
       limit_1_readjust_position: 0.0 # radians
       quad_ratio: 48.0 # encoder ratio compared to motor
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 6.0 # used to calculate max pwm
       min_velocity: -1.0
       max_velocity: 1.0
+      calibration_throttle: 0.5  # throttle during calibration
     sa_y:
       gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
+      is_linear: true
+      rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
       limit_0_present: true
       limit_1_present: true
-      limit_0_default_enabled: true
-      limit_1_default_enabled: true
+      limit_0_enabled: true
+      limit_1_enabled: true
       limit_0_is_active_high: true
       limit_1_is_active_high: true
       limit_0_limits_fwd: true
@@ -280,16 +326,19 @@ brushed_motors:
       limit_0_readjust_position: 0.0 # radians
       limit_1_readjust_position: 0.0 # radians
       quad_ratio: 48.0 # encoder ratio compared to motor
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 6.0 # used to calculate max pwm
       min_velocity: -1.0
       max_velocity: 1.0
-    sa_z:
+      calibration_throttle: 0.5  # throttle during calibration
+    sampler:
       gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
+      is_linear: true
+      rad_to_meters_ratio: 1.0 #TODO 5.0 = 5 motor radians -> 1 meter
       limit_0_present: true
       limit_1_present: true
-      limit_0_default_enabled: true
-      limit_1_default_enabled: true
+      limit_0_enabled: true
+      limit_1_enabled: true
       limit_0_is_active_high: true
       limit_1_is_active_high: true
       limit_0_limits_fwd: true
@@ -301,35 +350,15 @@ brushed_motors:
       limit_0_readjust_position: 0.0 # radians
       limit_1_readjust_position: 0.0 # radians
       quad_ratio: 48.0 # encoder ratio compared to motor
-      driver_voltage: 24.0 # used to calculate max pwm
-      motor_max_voltage: 6.0 # used to calculate max pwm
-      min_velocity: -1.0
-      max_velocity: 1.0
-    scoop:
-      gear_ratio: 75.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
-      limit_0_present: true
-      limit_1_present: true
-      limit_0_default_enabled: true
-      limit_1_default_enabled: true
-      limit_0_is_active_high: true
-      limit_1_is_active_high: true
-      limit_0_limits_fwd: true
-      limit_1_limits_fwd: false
-      limit_0_used_for_readjustment: true
-      limit_1_used_for_readjustment: true
-      quad_present: true
-      quad_is_fwd_polarity: true
-      limit_0_readjust_position: 0.0 # radians
-      limit_1_readjust_position: 0.0 # radians
-      quad_ratio: 48.0 # encoder ratio compared to motor
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 6.0 # used to calculate max pwm
+      calibration_throttle: 0.5  # throttle during calibration
     sensor_actuator:
       gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: true
       limit_1_present: true
-      limit_0_default_enabled: true
-      limit_1_default_enabled: true
+      limit_0_enabled: true
+      limit_1_enabled: true
       limit_0_is_active_high: true
       limit_1_is_active_high: true
       limit_0_limits_fwd: true
@@ -338,14 +367,14 @@ brushed_motors:
       limit_1_used_for_readjustment: true
       limit_0_readjust_position: 0.0 # radians
       limit_1_readjust_position: 0.0 # radians
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 6.0 # used to calculate max pwm
     cache:
       gear_ratio: 1.0 # motor ratio compared to joint, e.g. if 5, then 5 rotations of motor = 1 rotation of joint
       limit_0_present: true
       limit_1_present: true
-      limit_0_default_enabled: true
-      limit_1_default_enabled: true
+      limit_0_enabled: true
+      limit_1_enabled: true
       limit_0_is_active_high: true
       limit_1_is_active_high: true
       limit_0_limits_fwd: true
@@ -354,8 +383,9 @@ brushed_motors:
       limit_1_used_for_readjustment: true
       limit_0_readjust_position: 0.0 # radians
       limit_1_readjust_position: 0.0 # radians
-      driver_voltage: 24.0 # used to calculate max pwm
+      driver_voltage: 12.0 # used to calculate max pwm
       motor_max_voltage: 6.0 # used to calculate max pwm
+
 cameras:
   camera_type_info:
     # vendor_id and vendor is obtained by running `udevadm info --query=all /dev/video0`
@@ -584,7 +614,7 @@ motors:
     sa_y:
       type: "brushed"
     sa_z:
-      type: "brushed"
+      type: "brushless"
     scoop:
       type: "brushed"
     sensor_actuator: