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Replaced single wrist with wrist differential. #319

Merged
merged 7 commits into from
Jul 17, 2024
Merged

Replaced single wrist with wrist differential. #319

merged 7 commits into from
Jul 17, 2024

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AyushKulk
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Replaced instances of single wrist motor with wrist differentials for left and right gears and added logic to handle wrist pitch and roll control.

@abhaybd
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abhaybd commented Apr 26, 2024

Just to write down what we talked about, let's hold off on merging before sim testing.

abhaybd
abhaybd requested changes May 25, 2024
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Great work on this! Just some minor notes, and once we get more info from firmware we can fill in the exact values for some stuff

src/world_interface/kinematic_common_interface.cpp Outdated Show resolved Hide resolved
src/world_interface/kinematic_common_interface.cpp Outdated Show resolved Hide resolved
src/world_interface/real_world_constants.h Outdated Show resolved Hide resolved
src/world_interface/real_world_constants.h Show resolved Hide resolved
@AyushKulk AyushKulk requested a review from abhaybd June 21, 2024 07:45
@abhaybd abhaybd requested a review from Geeoon June 28, 2024 07:23
Geeoon
Geeoon requested changes Jun 28, 2024
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Just left a super small comment, looks good otherwise.

src/world_interface/real_world_constants.h Show resolved Hide resolved
abhaybd
abhaybd approved these changes Jul 17, 2024
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Works as far as I can tell, electrical issues are hindering full testing but it is what it is.

@abhaybd abhaybd merged commit c3576fb into master Jul 17, 2024
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@abhaybd abhaybd deleted the WristToPitchRoll branch July 17, 2024 23:12
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@Geeoon Geeoon Geeoon requested changes

@abhaybd abhaybd abhaybd approved these changes

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3 participants
@AyushKulk @abhaybd @Geeoon