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

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

Install this package to the catkin_ws on both your remote computer and your workstation computer and run catkin_make to build
Make sure both devices are network configured
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
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
Follow the instructions in the terminal for inputs (it awaits one of the button presses to zero the motors before accepting any other inputs)
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