Brushed Motors Planning

Task: Write brushed motors ROS code

Location: mrover-ros/embedded/esw/brushed_motors

• Get Quintin's Code to build

Arm to Can Node

Reads in arm message from rostopic ra_cmd. This message contains a motor name, target velocity, and target position. Then, the node will convert this message into a can message and publish to rostopic can_messages. A different can node will deal brushed vs. brushless Will probably look very similar to last year's code.

motor_message:
	motor_name
	velocity
	position

can_message:
        bus_name
        can frame

Implementation Details:

Written in Python

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Task: Write brushed motors open loop control

Location: mrover-ros/embedded/esw/fw/motor_mother

Implementation Details:

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Task: Test brushed firmware code w/out motor

Implementation Details: