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Fixes for motor rotation direction #65

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Merged
usedhondacivic merged 1 commit into from
May 25, 2026
Merged

Fixes for motor rotation direction #65

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20 changes: 10 additions & 10 deletions mote-firmware/src/tasks.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -30,23 +30,23 @@ assign_resources! {
usb: USB
},
left_encoder: LeftEncoderResources{
phase_a: PIN_6,
phase_b: PIN_7,
},
right_encoder: RightEncoderResources{
phase_a: PIN_8,
phase_b: PIN_9,
},
right_encoder: RightEncoderResources{
phase_a: PIN_6,
phase_b: PIN_7,
},
encoder_driver: EncoderDriverResources{
pio: PIO1,
},
drv8833_resources: DRV8833Resources{
left_pwm: PWM_SLICE5,
left_a: PIN_10,
left_b: PIN_11,
right_pwm: PWM_SLICE6,
right_a: PIN_12,
right_b: PIN_13,
left_pwm: PWM_SLICE6,
left_a: PIN_12,
left_b: PIN_13,
right_pwm: PWM_SLICE5,
right_a: PIN_10,
right_b: PIN_11,
sleep: PIN_18,
},
imu: ImuResources{
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7 changes: 4 additions & 3 deletions mote-firmware/src/tasks/drive_base.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -102,9 +102,10 @@ impl<'d, T: SetDutyCycle, P: Instance, const SM: usize> Motor<'d, T, P, SM> {
}

// Update the joint state
self.joint_state.postition_rad = encoder_pulses_to_rad(self.encoder_value);
self.joint_state.velocity_rad_per_s = measurement / dt;
self.joint_state.effort_percent = deadband_adjusted_output;
// Negated to convert rotation direction to right hand coordinate system
self.joint_state.postition_rad = -(encoder_pulses_to_rad(self.encoder_value));
self.joint_state.velocity_rad_per_s = -(measurement / dt);
self.joint_state.effort_percent = -deadband_adjusted_output;
}
}

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2 changes: 1 addition & 1 deletion mote-firmware/src/tasks/imu/lib.rs
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Expand Up @@ -35,7 +35,7 @@ const CHIP_ID: u8 = 0x69; // FOR LSM6DS33
const CHIP_ID_TRC: u8 = 0x6A; // FOR LSM6DS3-TRC, DIFFERENT FROM LSM6DS33 WHOAMI

// Earth gravity constant for acceleration conversion
const EARTH_GRAVITY: f32 = -9.80665;
const EARTH_GRAVITY: f32 = 9.80665;

/// 6-DoF IMU accelerometer + gyro
pub struct Lsm6ds3TRC<I2C> {
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