DISCLAIMER: This software is deprecated and not maintained

This repository holds the ROS Melodic Package for College of DuPage's 2022 Lunabotics robot.

What this code can be used for

• Running the 2022 Lunabotics robot on ROS melodic
• Looking at how to compile and run the Phoenix Motor Shared Libraries for new roscpp applications, A Guide on Making your own VEX Motor Integration in ROS

Issues with this code

• This code is NOT a good example of ros_control (I don't think ros_control should be used moving forward)
• This code is NOT a good example of python scripting for inputs (I did it in a very hackish way due to time constraints)
• This code runs on ROS Melodic which has EOL May 2023

To run the program on the Lunabotics robot

1. Install this package to the catkin_ws on both your remote computer and your workstation computer and run catkin_make to build
2. Make sure both devices are network configured
3. On the remote computer, run the following commands: ./canableStart # while in the directory where this script is located roslaunch roberto_hw_interface jetson_setup.launch
4. Meanwhile on the workstation computer, make sure an xbox controller is plugged in and run the following commmand: roslaunch roberto_hw_interface app_test.launch
5. Follow the instructions in the terminal for inputs (it awaits one of the button presses to zero the motors before accepting any other inputs)
6. Controls: Triggers and Left Joystick - Driving X - Mine Y - Deposit A - Stop all motors B - Neutral position The other buttons are not standardized in labelling so I don't know what to call them but there are some other binds.

Special thanks to the rest of the 2022 programming team: Oliver Burrus, Nayal Merchant, Giovanni Zavalza, and Stavros Dellis