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Talon Load encoder (quadrature control, pwm load) #80

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Talon Load encoder (quadrature control, pwm load) #80

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c63ac35
feat: add seperate load encoder option for talon wrapper
ConnorNeed Mar 23, 2026
cac0368
feat: use new load encoder configuration
ConnorNeed Mar 23, 2026
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10 changes: 9 additions & 1 deletion src/HW-Devices/hardware/include/TalonSRXWrapper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,9 @@ class TalonSRXWrapper : public BaseWrapper {
static void setup();

private:
enum class SensorType { PWM, RELATIVE, ANALOG };
enum class SensorType { PWM, RELATIVE, ANALOG, NONE };
static SensorType sensor_type_from_str(std::string str);
int get_load_enc() const;

// Parameters
int id_;
Expand All @@ -51,6 +53,7 @@ class TalonSRXWrapper : public BaseWrapper {
double sensor_offset_ticks_;
ctre::phoenix::motorcontrol::ControlMode control_type_;
SensorType sensor_type_;
SensorType load_sensor_;
int sensor_ticks_;
bool crossover_mode_;
bool inverted_;
Expand All @@ -59,6 +62,11 @@ class TalonSRXWrapper : public BaseWrapper {
rclcpp::Time start_time_;
rclcpp::Publisher<ros_phoenix::msg::MotorStatus>::SharedPtr debug_pub_;
static constexpr double kWaitDurationSec = 5.0;
static inline std::map<std::string, SensorType> sensor_type_map = {
{"quadrature", SensorType::RELATIVE},
{"absolute", SensorType::PWM},
{"analog", SensorType::ANALOG},
{"none", SensorType::NONE}};

// Talon-specific handle
std::shared_ptr<ctre::phoenix::motorcontrol::can::TalonSRX> talon_controller_;
Expand Down
43 changes: 32 additions & 11 deletions src/HW-Devices/hardware/src/TalonSRXWrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,9 @@ TalonSRXWrapper::TalonSRXWrapper(const hardware_interface::ComponentInfo &joint,
if (param.first == "can_id") {
id_ = std::stoi(param.second);
} else if (param.first == "sensor_type") {
sensor_type_str = param.second;
sensor_type_ = sensor_type_from_str(param.second);
} else if (param.first == "load_sensor") {
load_sensor_ = sensor_type_from_str(param.second);
} else if (param.first == "sensor_ticks") {
sensor_ticks_ = std::stoi(param.second);
} else if (param.first == "sensor_offset") {
Expand Down Expand Up @@ -77,20 +79,21 @@ TalonSRXWrapper::TalonSRXWrapper(const hardware_interface::ComponentInfo &joint,
debug_pub_ = debug_node_->create_publisher<ros_phoenix::msg::MotorStatus>(
joint.name + "/status", rclcpp::SystemDefaultsQoS());

std::transform(sensor_type_str.begin(), sensor_type_str.end(),
sensor_type_str.begin(),
[](unsigned char c) { return std::tolower(c); });
if (sensor_type_str == "quadrature") {
sensor_type_ = SensorType::RELATIVE;
} else if (sensor_type_str == "absolute") {
sensor_type_ = SensorType::PWM;
} else if (sensor_type_str == "analog") {
sensor_type_ = SensorType::ANALOG;
}
sensor_offset_ticks_ =
static_cast<int>(sensor_offset * sensor_ticks_ / (2.0 * M_PI));
}

TalonSRXWrapper::SensorType
TalonSRXWrapper::sensor_type_from_str(std::string str) {
std::transform(str.begin(), str.end(), str.begin(),
[](unsigned char c) { return std::tolower(c); });
const auto itr = sensor_type_map.find(str);
if (itr == sensor_type_map.end()) {
return SensorType::NONE;
}
return itr->second;
}

void TalonSRXWrapper::pub_status() const {
if (!talon_controller_ || !debug_pub_) {
return;
Expand Down Expand Up @@ -176,6 +179,21 @@ void TalonSRXWrapper::read() {
velocity_ = raw_velocity * 10 * (2.0 * M_PI) / sensor_ticks_;
}

int TalonSRXWrapper::get_load_enc() const {
auto &sensor_collection = talon_controller_->GetSensorCollection();
int abs_ticks = 0;
switch (load_sensor_) {
case SensorType::PWM:
return sensor_collection.GetPulseWidthPosition();
case SensorType::ANALOG:
return sensor_collection.GetAnalogIn();
case SensorType::RELATIVE:
return sensor_collection.GetQuadraturePosition();
default:
return 0;
}
}

void TalonSRXWrapper::configure() {
BaseWrapper::configure();
while (true) {
Expand Down Expand Up @@ -233,6 +251,9 @@ void TalonSRXWrapper::configure() {
talon_controller_->SetStatusFramePeriod(
StatusFrameEnhanced::Status_2_Feedback0, 20);
talon_controller_->SetIntegralAccumulator(0);
if (load_sensor_ != SensorType::NONE) {
talon_controller_->SetSelectedSensorPosition(get_load_enc());
}
read();
if (control_type_ == motors::ControlMode::Position) {
command_ = position_;
Expand Down
20 changes: 12 additions & 8 deletions src/URDF/rover_urdf/urdf/arm_urdf.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,10 @@
<param name="kI">0.0005</param>
<param name="kD">1.0</param>
<param name="kF">0.0</param>
<param name="sensor_type">absolute</param> <!-- or "quadrature" -->
<param name="sensor_type">quadrature</param> <!-- or "quadrature" -->
<param name="load_sensor">absolute</param>
<param name="sensor_ticks">4096</param>
<param name="sensor_offset">0.0</param>
<param name="sensor_offset">4.99</param>
<param name="crossover">false</param> <!-- or "continuous" -->
<param name="invert">false</param>
<param name="invert_sensor">false</param>
Expand All @@ -31,9 +32,10 @@
<param name="kI">0.001</param>
<param name="kD">0.01</param>
<param name="kF">0.0</param>
<param name="sensor_type">absolute</param> <!-- or "quadrature" -->
<param name="sensor_type">quadrature</param>
<param name="load_sensor">absolute</param>
<param name="sensor_ticks">4096</param>
<param name="sensor_offset">0.0</param>
<param name="sensor_offset">1.9</param>
<param name="crossover">false</param> <!-- or "continuous" -->
<param name="invert">false</param>
<param name="invert_sensor">false</param>
Expand All @@ -48,9 +50,10 @@
<param name="kI">0.001</param>
<param name="kD">0.0</param>
<param name="kF">0.0</param>
<param name="sensor_type">absolute</param> <!-- or "quadrature" -->
<param name="sensor_type">quadrature</param>
<param name="load_sensor">absolute</param>
<param name="sensor_ticks">4096</param>
<param name="sensor_offset">0.0</param>
<param name="sensor_offset">4.69494</param>
<param name="crossover">false</param> <!-- or "continuous" -->
<param name="invert">true</param>
<param name="invert_sensor">true</param>
Expand All @@ -65,9 +68,10 @@
<param name="kI">0.001</param>
<param name="kD">0.001</param>
<param name="kF">0.0</param>
<param name="sensor_type">absolute</param> <!-- or "quadrature" -->
<param name="sensor_type">quadrature</param>
<param name="load_sensor">absolute</param>
<param name="sensor_ticks">4096</param>
<param name="sensor_offset">0.0</param>
<param name="sensor_offset">3.26377</param>
<param name="crossover">false</param> <!-- or "continuous" -->
<param name="invert">false</param>
<param name="invert_sensor">false</param>
Expand Down
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