Add set motor current msgs

RobotnikAutomation · Nov 18, 2021 · 7091c1e · 7091c1e
1 parent 4c1f7af
commit 7091c1e
Show file tree

Hide file tree

Showing 3 changed files with 13 additions and 0 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -57,6 +57,7 @@ add_message_files(DIRECTORY msg
     BatteryDockingStatusStamped.msg
     BoolArray.msg
     MotorPID.msg
+    MotorCurrent.msg
     Pose2DArray.msg
     Pose2DStamped.msg
     ReturnMessage.msg
@@ -103,6 +104,7 @@ add_service_files(
     SetString.srv
     GetPTZ.srv
     SetByte.srv
+    SetCurrent.srv
     SetTransform.srv
 )
 

diff --git a/msg/MotorCurrent.msg b/msg/MotorCurrent.msg
@@ -0,0 +1,7 @@
+# either can_id or name are set
+# if can_id is -1, then this refers to all motors.
+int32[] can_id
+string[] name
+float32[] continuous_current_limit # Amperes
+float32[] current_peak_time # Seconds
+float32[] current_peak_limit # Amperes
diff --git a/srv/SetCurrent.srv b/srv/SetCurrent.srv
@@ -0,0 +1,4 @@
+MotorCurrent current
+---
+bool success
+string message