Magnezijum-Robotics/magrob
2
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

Added calibration sequence for encoder diameter diff

Browse Source
This commit is contained in:
Pimpest
2025-04-29 14:59:27 +02:00
parent 6fefe74442
commit ed9c5bab45
4 changed files with 93 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
mg_bt/behavior_trees/calib_bt.xml
View File

@ -1,8 +1,41 @@
<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="calib2_bt">
<Sequence>
<ZeroNode service_name="/zero"/>
<MovePoint action_name="/MovePoint"
tolerance="0.02"
max_angular="0.1"
x_goal="0.7"
y_goal="0.0"/>
<RotateNode angle="-2"
action_name="/Rotate"/>
<RotateNode angle="-3.14"
action_name="/Rotate"/>
<MovePoint action_name="/MovePoint"
tolerance="0.02"
x_goal="0.3"
y_goal="0.0"/>
<RotateNode angle="-2"
action_name="/Rotate"/>
<RotateNode angle="0"
action_name="/Rotate"/>
<Fallback>
<Timeout msec="5000">
<MovePoint action_name="/MovePoint"
max_angular="0.1"
x_goal="-0.1"
y_goal="0.0"/>
</Timeout>
<AlwaysSuccess/>
</Fallback>
<ZeroNode service_name="/endCalib"/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="calib_bt">
<Sequence>
<SetBlackboard value="0.31133"
<SetBlackboard value="0.311010"
output_key="width"/>
<Delay delay_msec="10000">
<Repeat num_cycles="5">