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This repository has been archived by the owner on Sep 18, 2018. It is now read-only.

Wheel Node

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Joel Newman edited this page Jul 31, 2017 · 2 revisions

Overview

This node is in revision 1

This means it has not been approved by the software lead This node will handle controlling each wheel. The files are located in ../src/Wheel [this is an example, the files have not been crated yet]

Publish:

../Wheel/position_[wheelNumber]_actual

  • This represents the position of the wheel in meters

../Wheel/velocity_[wheelNumber]_actual

  • This represents the current rotation velocity in rpm

Suscribe:

../Wheel/velocity_[wheelNumber]_setpoint

  • This represents what the desired rotation should be in rpm
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