Changelog for package diffbot_base

1.1.0 (2022-03-28)

fix: missing subscriber initialization (#54)
feat: warn if eStop() is called on mcu
Change base config: switch motor pins
feat: add callbacks for low level pids on mcu #54 For MCU firmware - Add subscribers for left and right motor pid controllers using diffbot_msgs::PIDStamped custom message - Update debug logging message (different formatting) - Update PID controller interface (provide proportional_, integral_ and derivative_ values)
fix: missing diffbot namespace in test
fix: test_encoders.cpp include name
feat: add documentation link for unity
Merge pull request #42 from joeuser846/motor-defines Use MOTOR_LEFT/RIGHT from diffbot_base_config.h instead of hardcoding pin numbers
Fix filenames
Use MOTOR_LEFT/RIGHT instead of hardcoding pin numbers
Contributors: Franz Pucher, Joe User

1.0.0 (2021-08-13)

clean CMakeLists.txt: remove dependency
add dependency diffbot_msgs_generate_messages_cpp to build diffbot_msgs before diffbot_base package
Refactor: Update interface - Exchange jointStates between high hw intf and low level base controller - Add measured_joint_state publisher in base controller to let high level hw intf subscribe to it - Remove encoder publisher (todo consider publishing at low rate) - Update docstrings of BaseController - Extend interface of diffbot::Encoder class to read jointStates
refactor: renamed methods due to interface change: jointStates
use new jointState intf between high and low level base
make use of diffbot namespace
Update base_controller documentation - Update BaseController class - Add E_STOP_COMMAND_RECEIVED_DURATION define in diffbot_base_config
update diffbot_base - add diffbot namespace to base_controller library classes - update docstrings - run rosdoc_lite - fix some rosdoc_lite warnings
add diffbot_base launch arg to choose robot model (for remo and diffbot)
add AngularVelocitiesStamped.h for rosserial
remove measured_vel_ publisher in rosserial
add low level pid - Add pid lib for arduino code - make use of pid in base_controller.h - update debug logging - use ros::time in encoder lib
set motor_constant=1 (gain trim model)
make use of new diffbot_msgs in hardware interface and base_controller
feat: add debug parameter to parameter server add option to enable/disable debug logging of the hw interface
refactor base_controller: use ros time instead of millis
refactor main.cpp: add base_controller class - add base_controller.h with BaseController template class - use class publisher and subscriber - use BaseController instead of global variables - read parameters from parameter server in BaseController
add encoder resolution to config header and getter/setter
add include guards to encoder.h
add base_controller rosserial code using rates
fix vector assignment of command velocity in hw intf
add tests for motor controllers
add compiled rosserial diffbot_msgs
add adafruit_feather_wing motor controller class header
moved adafruit_feather_wing.cpp to subfolder
add adafruit_feather_wing motor controller class
add author comment
add abstract MotorControllerInterface class
remove test_motors.cpp
update encoder lib for rosserial - add doc strings to encoder.h - add ticksToAngle method - add angularVelocity method
feature: update diffbot_hw_interface - add angular wheel joint velocity publisher - add new WheelCmd.msg in diffbot_msgs - load new hardware related parameters from diffbot_base/config/base.yaml - get hardware related parameters from parameter server in diffbot_hw_interface - add gain trim parameters to dynamic reconfigure cfg
refactor diffbot_msgs - rename Encoder.msg to Encoders.msg - update diffbot_pase includes and method signatures - update arduino script - change diffbot_msgs license to BSDv3
add base_controller mcu scripts including tests
Update package.xml change license and add rosserial to exec dependencies
Contributors: Franz Pucher

0.0.2 (2021-04-30)

fix #30: reset encoders after each new launch of hardware interface
call reset in encoders setup()
add method to check if encoder ticks are published
update logging in encoders.ino
initialize encoder_ticks_ in hw interface initialize values in encoder_ticks_ member array of hardware interface to zero because receiving meaningful tick values from the microcontroller might take some time. Alleviates problems in #30
fix zero time period at control loop start (#30)
Contributors: Franz Pucher

0.0.1 (2020-12-22)

update diffbot_base to use Encoder msg
set control loop rate to 10 Hz
add diffbot_msgs as dependency to diffbot_base
use queue_size of 10
update info output in write() method
update initial fpid parameters and adjust their range
update info messages with individual pid errors
update diffbot_base/launch file to use new diffbot.urdf.xacro
add dynamic reconfigure to pid class for f,p,i,d,i_max/min and antiwindup
add pid i_max/min and antiwindup to Parameters.cfg
add boost to CMakeLists.txt
update CMakeLists.txt using dynamic reconfigure
add dynamic_reconfigure to package.xml
add Parameters.cfg for feed forward gain
reset pid error and cmd values in case setpoint and p_error is zero: avoids non-vanishing i_error
tune pid and feed forward gains
fix major bug: prev_time not updated
refactor pid to enable dynamic reconfigure for both motors
add debug output logging messages to pid class and enable dynamic reconfigure - needs param for more than one pid
let PID inherit from control_toolbox::Pid
add pid controller for motors from ros control toolbox
add pid.cpp in cmake
Update version, mail and license
fix compile error and runtime errors due to dynamic reconfigure using initPid instead of setGains and tune PID values (P=10.0)
Update README.md and add comments to code
move packages from ros/src to repository toplevel folder
Contributors: Franz Pucher