fix: use new science API#27
Open
ConnorNeed wants to merge 1 commit into
Open
Conversation
There was a problem hiding this comment.
Pull request overview
Migrates the Science Control Panel from the legacy /science/device_control packed-bitfield protocol to the new /esp_pwm_command (interfaces/msg/PwmCommand) API, which sends pin, duty_cycle, duration, frequency, and ramp as discrete fields. Motor configs are updated to include a per-motor frequency, several DC motor pin IDs and a servo entry are added/changed, and the duration clamp is expanded.
Changes:
- Replaced bit-packed
servicepayload publishing tosensor_msgs/msg/NavSatStatuswith explicitPwmCommandfields on/esp_pwm_command. - Added
frequencyto allMotorConfigentries and a sharedSendCommandFntype that acceptsfrequencyandramp. - Updated DC motor pin IDs/defaults, added a
Resin Servo, widened the duration clamp to65.535, and switched React keys to composite strings.
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
Comment on lines
62
to
100
| @@ -59,16 +73,29 @@ const motors: MotorConfig[] = [ | |||
| maxPulseUs: 2495, | |||
| periodUs: 20000, | |||
| maxDegrees: 195, | |||
| frequency: 50, | |||
| type: 'servo', | |||
| }, | |||
| { | |||
| id: 25, | |||
| id: 27, | |||
| name: 'Polar Servo', | |||
| defaultPosition: 45, | |||
| minPulseUs: 615, | |||
| maxPulseUs: 2495, | |||
| periodUs: 20000, | |||
| maxDegrees: 195, | |||
| frequency: 50, | |||
| type: 'servo', | |||
| }, | |||
| { | |||
| id: 32, | |||
| name: 'Resin Servo', | |||
| defaultPosition: 45, | |||
| minPulseUs: 350, | |||
| maxPulseUs: 2500, | |||
| periodUs: 20000, | |||
| maxDegrees: 360, | |||
| frequency: 50, | |||
| type: 'servo', | |||
| } | |||
| } | ||
|
|
||
| const PWM_MAX = 1023; | ||
| const DEFAULT_PWM_FREQUENCY = 50; |
Comment on lines
+118
to
+120
| const safeDurationMs = Math.round( | ||
| Math.min(Math.max(duration ?? 0, 0), 65.535) * 10 | ||
| ); |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.