motor_controllers

Top level overview of how the motor controller is built

BangBang

class BangBang

This is a simple Bang Bang controller node. It will command a preset control effort when the input state is above or below a certain amount of the setpoint.

Publishers

• Control Effort

  Topicname

  ~control_effort_topic (From Parameter)

  Type

  std_msgs/Float64

  Outputs Control Effort

Subscribers

• Setpoint

  Topicname

  ~setpoint_topic (From Parameter)

  Type

  std_msgs/Float64

  Sets desired state for control loop to achive

• State

  Topicname

  ~state_topic (From Parameter)

  Type

  std_msgs/Float64

  Feedback on current state

Parameters

• ~setpoint_topic

  Type

  string

  Default

  Required (No default)

  Topic to subscribe to setpoints

• ~state_topic

  Type

  string

  Default

  Required (No default)

  Topic to get state feedback on

• ~control_effort_topic

  Type

  string

  Default

  Required (No default)

  Topic to publish control effort on.

• ~deadzone_size

  Type

  float

  Default

  1.0

  Size of the deadzone where control effort will be set to zero. Deadzone is centered around the setpoint.

• ~left_bang_effort

  Type

  float

  Default

  1.0

  Control Effort that is output when state is less than setpoint - (deadzone_size / 2).

• ~right_bang_effort

  Type

  float

  Default

  -1.0

  Control Effort that is output when state is greater than setpoint + (deadzone_size / 2).

The Muxer

information about how the two controllers are muxed