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Merged
Opened Mar 20, 2019 by Christian Sponfeldner@Chris
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WIP: Feat/2 wd plus auxiliary drive

Implements an additional motor ("auxiliary drive") into 2WD kinematic.

This may be used e.g. for tasks like hoisting weights.

  • The auxiliary drive is used in operating mode Cyclic Synchronous Velocity and controlled via CANopen-PDOs.
  • New PDO mapping is configured with the config-files in folder '/emros/sd-card/2WD_plus_auxiliary'

The merge request correspond to this EMROS-ROS merge request: Link

Edited Mar 20, 2019 by Christian Sponfeldner
  • Discussion 3
  • Commits 45
  • Changes 85
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Reference: nathan/emros!9

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