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Refactor Talon HWI: per-joint MotorConfig and revolute joint fix - #61
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… MotorConfig struct - Add MotorConfig struct with configurable encoder_resolution, gear_ratio, distance_per_rev, PID gains, motor inversion, and sensor phase - All talon_control functions now accept MotorConfig instead of using #defines - Fix read() bug: revolute joints now report radians/rad-s instead of meters/m-s - Parse per-joint motor params from URDF (all optional, Pololu 37D defaults) - Update science and arm XACRO files with explicit motor config params - Remove hardcoded 'cansend can0', use configured can_interface - Clean up unused variables and mystery fudge factor in velocity conversion
IshanDutta11
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Feb 17, 2026
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Looks good, great work as always, keep in mind the *5 fudge factor.
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… MotorConfig struct (umdloop#61) - Add MotorConfig struct with configurable encoder_resolution, gear_ratio, distance_per_rev, PID gains, motor inversion, and sensor phase - All talon_control functions now accept MotorConfig instead of using #defines - Fix read() bug: revolute joints now report radians/rad-s instead of meters/m-s - Parse per-joint motor params from URDF (all optional, Pololu 37D defaults) - Update science and arm XACRO files with explicit motor config params - Remove hardcoded 'cansend can0', use configured can_interface - Clean up unused variables and mystery fudge factor in velocity conversion
a-cires
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… MotorConfig struct (umdloop#61) - Add MotorConfig struct with configurable encoder_resolution, gear_ratio, distance_per_rev, PID gains, motor inversion, and sensor phase - All talon_control functions now accept MotorConfig instead of using #defines - Fix read() bug: revolute joints now report radians/rad-s instead of meters/m-s - Parse per-joint motor params from URDF (all optional, Pololu 37D defaults) - Update science and arm XACRO files with explicit motor config params - Remove hardcoded 'cansend can0', use configured can_interface - Clean up unused variables and mystery fudge factor in velocity conversion
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Replaces all hardcoded Pololu 37D motor constants (#defines for encoder resolution, gear ratio, PID gains, etc.) with a per-joint MotorConfig struct that is parsed from URDF parameters, with Pololu defaults as fallback
Fixes a bug where revolute joints (science lift/scoop) reported position in meters and velocity in m/s instead of radians and rad/s
Adds proper revolute joint support: getPositionRadians(), getAngularVelocity(), setVelocityFromAngularVelocity(), setPositionFromJointCommand()
Removes the unexplained *5 fudge factor in the old velocity conversion
Updates science and arm XACRO files with per-joint motor parameters