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ros2_control PDO commands #18

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merged 3 commits into from
Feb 13, 2024
Merged

ros2_control PDO commands #18

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cabe17d
Add heatsink temperature
macstepien Dec 13, 2023
aa6c889
Update error names
macstepien Jan 4, 2024
821f935
Update timed out errors
macstepien Jan 4, 2024
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6 changes: 3 additions & 3 deletions msg/DriverState.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,6 @@ panther_msgs/MotorControllerState front
panther_msgs/MotorControllerState rear

bool error
bool read_sdo_error
bool read_pdo_error
bool write_sdo_error
bool write_pdo_cmds_error
bool read_pdo_motor_states_error
bool read_pdo_driver_state_error
6 changes: 5 additions & 1 deletion msg/MotorControllerState.msg
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Original file line number Diff line number Diff line change
@@ -1,9 +1,13 @@
float32 voltage
float32 current
float32 temperature
float32 heatsink_temperature

panther_msgs/FaultFlag fault_flag
panther_msgs/ScriptFlag script_flag
panther_msgs/RuntimeError left_motor_runtime_error
panther_msgs/RuntimeError right_motor_runtime_error
bool data_timed_out

bool motor_states_data_timed_out
bool driver_state_data_timed_out
bool can_net_err