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motor direction change #35

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14 changes: 7 additions & 7 deletions odrive_demo_bringup/config/diffbot_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -40,18 +40,18 @@ diffbot_base_controller:
linear.x.has_velocity_limits: true
linear.x.has_acceleration_limits: true
linear.x.has_jerk_limits: false
linear.x.max_velocity: 1.0
linear.x.min_velocity: -1.0
linear.x.max_acceleration: 1.0
linear.x.max_velocity: 3.0
linear.x.min_velocity: -3.0
linear.x.max_acceleration: 3.0
linear.x.max_jerk: 0.0
linear.x.min_jerk: 0.0

angular.z.has_velocity_limits: true
angular.z.has_acceleration_limits: true
angular.z.has_jerk_limits: false
angular.z.max_velocity: 1.0
angular.z.min_velocity: -1.0
angular.z.max_acceleration: 1.0
angular.z.min_acceleration: -1.0
angular.z.max_velocity: 60.0
angular.z.min_velocity: -60.0
angular.z.max_acceleration: 60.0
angular.z.min_acceleration: -60.0
angular.z.max_jerk: 0.0
angular.z.min_jerk: 0.0
2 changes: 1 addition & 1 deletion odrive_demo_bringup/launch/odrive_diffbot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,5 +88,5 @@ def generate_launch_description():
robot_state_pub_node,
joint_state_broadcaster_spawner,
robot_controller_spawner,
rviz_node
rviz_node,
])
4 changes: 2 additions & 2 deletions odrive_demo_description/urdf/odrive.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
<param name="serial_number">${serial_number}</param>
<param name="axis">0</param>
<param name="enable_watchdog">1</param>
<param name="watchdog_timeout">0.1</param>
<param name="watchdog_timeout">0.5</param>
</joint>
</xacro:if>

Expand All @@ -27,7 +27,7 @@
<param name="serial_number">${serial_number}</param>
<param name="axis">1</param>
<param name="enable_watchdog">1</param>
<param name="watchdog_timeout">0.1</param>
<param name="watchdog_timeout">0.5</param>
</joint>
</xacro:if>
</ros2_control>
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4 changes: 2 additions & 2 deletions odrive_demo_description/urdf/odrive.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
<joint name="joint0" type="continuous">
<parent link="world"/>
<child link="link0"/>
<axis xyz="0 0 1"/>
<axis xyz="1.0 0.0 0.0"/>
</joint>
</xacro:if>

Expand All @@ -22,7 +22,7 @@
<joint name="joint1" type="continuous">
<parent link="world"/>
<child link="link1"/>
<axis xyz="0 0 1"/>
<axis xyz="1.0 0.0 0.0"/>
</joint>
</xacro:if>

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6 changes: 5 additions & 1 deletion odrive_hardware_interface/src/odrive_hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -344,7 +344,11 @@ return_type ODriveHardwareInterface::write()
input_pos));

case integration_level_t::VELOCITY:
input_vel = hw_commands_velocities_[i] / 2 / M_PI;
if (i == 0) { // Only for joint1
input_vel = hw_commands_velocities_[i] / 2 / M_PI; // Negative velocity for joint1
} else {
input_vel = -hw_commands_velocities_[i] / 2 / M_PI; // Keep the same velocity for other joints
}
CHECK(odrive->write(
serial_numbers_[1][i], AXIS__CONTROLLER__INPUT_VEL + per_axis_offset * axes_[i],
input_vel));
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