Reverse specific motors for some reason

CWRUbotix · Sep 17, 2024 · 76bc663 · 76bc663
1 parent b63f681
commit 76bc663
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Showing 2 changed files with 25 additions and 17 deletions.
diff --git a/src/surface/rov_gazebo/config/sub.parm b/src/surface/rov_gazebo/config/sub.parm
@@ -39,7 +39,7 @@ SERVO16_TRIM	1500
 SERVO1_FUNCTION	33
 SERVO1_MAX	1900
 SERVO1_MIN	1100
-SERVO1_REVERSED	1
+SERVO1_REVERSED	0
 SERVO1_TRIM	1500
 SERVO2_FUNCTION	34
 SERVO2_MAX	1900
@@ -54,7 +54,7 @@ SERVO3_TRIM	1500
 SERVO4_FUNCTION	36
 SERVO4_MAX	1900
 SERVO4_MIN	1100
-SERVO4_REVERSED	1
+SERVO4_REVERSED	0
 SERVO4_TRIM	1500
 SERVO5_FUNCTION	37
 SERVO5_MAX	1900
@@ -69,7 +69,7 @@ SERVO6_TRIM	1500
 SERVO7_FUNCTION	39
 SERVO7_MAX	1900
 SERVO7_MIN	1100
-SERVO7_REVERSED	1
+SERVO7_REVERSED	0
 SERVO7_TRIM	1500
 SERVO8_FUNCTION	40
 SERVO8_MAX	1900
@@ -82,6 +82,14 @@ SERVO9_MIN	1100
 SERVO9_REVERSED	0
 SERVO9_TRIM	1500
 
+MOT_1_DIRECTION	1
+MOT_2_DIRECTION	-1
+MOT_3_DIRECTION	1
+MOT_4_DIRECTION	-1
+MOT_5_DIRECTION	1
+MOT_7_DIRECTION	1
+MOT_6_DIRECTION	1
+MOT_8_DIRECTION	1
 
 # These settings were copied from ardupilot/Tools/autotest/default_params/sub.parm
 BATT_MONITOR     4

diff --git a/src/surface/rov_gazebo/models/rov24/model.sdf b/src/surface/rov_gazebo/models/rov24/model.sdf
@@ -164,7 +164,7 @@
         <pose>0 0 0 -1.571 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://rov24/meshes/t200_cw_prop.dae</uri>
+            <uri>model://rov24/meshes/t200_ccw_prop.dae</uri>
           </mesh>
         </geometry>
       </visual>
@@ -182,7 +182,7 @@
     </link>
 
     <link name="thruster2">
-      <pose>0.1848 0.2104 0.1651 -1.571 1.571 -2.269</pose>
+      <pose>0.1848 0.2104 0.1651 1.571 1.571 -2.269</pose>
       <visual name="thruster_prop_visual">
         <pose>0 0 0 -1.571 0 0</pose>
         <geometry>
@@ -228,7 +228,7 @@
     </link>
 
     <link name="thruster4">
-      <pose>-0.1848 0.2104 0.1651 -1.571 1.571 2.269</pose>
+      <pose>-0.1848 0.2104 0.1651 1.571 1.571 2.269</pose>
       <visual name="thruster_prop_visual">
         <pose>0 0 0 1.571 0 0</pose>
         <geometry>
@@ -251,12 +251,12 @@
     </link>
 
     <link name="thruster5">
-      <pose>0.0985 -0.2408 0.0577 3.141 0 0</pose>
+      <pose>0.0985 -0.2408 0.0577 0 0 0</pose>
       <visual name="thruster_prop_visual">
         <pose>0 0 0 -1.571 0 1.571</pose>
         <geometry>
           <mesh>
-            <uri>model://rov24/meshes/t200_cw_prop.dae</uri>
+            <uri>model://rov24/meshes/t200_ccw_prop.dae</uri>
           </mesh>
         </geometry>
       </visual>
@@ -274,12 +274,12 @@
     </link>
 
     <link name="thruster6">
-      <pose>0.0985 0.2408 0.0577 3.141 0 0</pose>
+      <pose>0.0985 0.2408 0.0577 0 0 0</pose>
       <visual name="thruster_prop_visual">
         <pose>0 0 0 1.571 0 1.571</pose>
         <geometry>
           <mesh>
-            <uri>model://rov24/meshes/t200_ccw_prop.dae</uri>
+            <uri>model://rov24/meshes/t200_cw_prop.dae</uri>
           </mesh>
         </geometry>
       </visual>
@@ -297,12 +297,12 @@
     </link>
 
     <link name="thruster7">
-      <pose>-0.0985 -0.2408 0.0577 3.141 0 0</pose>
+      <pose>-0.0985 -0.2408 0.0577 0 0 0</pose>
       <visual name="thruster_prop_visual">
         <pose>0 0 0 1.571 0 1.571</pose>
         <geometry>
           <mesh>
-            <uri>model://rov24/meshes/t200_ccw_prop.dae</uri>
+            <uri>model://rov24/meshes/t200_cw_prop.dae</uri>
           </mesh>
         </geometry>
       </visual>
@@ -320,12 +320,12 @@
     </link>
 
     <link name="thruster8">
-      <pose>-0.0985 0.2408 0.0577 3.141 0 0</pose>
+      <pose>-0.0985 0.2408 0.0577 0 0 0</pose>
       <visual name="thruster_prop_visual">
         <pose>0 0 0 -1.571 0 1.571</pose>
         <geometry>
           <mesh>
-            <uri>model://rov24/meshes/t200_cw_prop.dae</uri>
+            <uri>model://rov24/meshes/t200_ccw_prop.dae</uri>
           </mesh>
         </geometry>
       </visual>
@@ -425,7 +425,8 @@
         name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster2_joint</joint_name>
-      <thrust_coefficient>0.02</thrust_coefficient>
+      <!-- Reverse spin to balance torque -->
+      <thrust_coefficient>-0.02</thrust_coefficient>
       <max_thrust_cmd>36.4</max_thrust_cmd>
       <min_thrust_cmd>-28.6</min_thrust_cmd>
       <fluid_density>1000.0</fluid_density>
@@ -454,8 +455,7 @@
         name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster4_joint</joint_name>
-      <!-- Reverse spin to balance torque -->
-      <thrust_coefficient>-0.02</thrust_coefficient>
+      <thrust_coefficient>0.02</thrust_coefficient>
       <max_thrust_cmd>36.4</max_thrust_cmd>
       <min_thrust_cmd>-28.6</min_thrust_cmd>
       <fluid_density>1000.0</fluid_density>