From e48cd6782c20447998d7fe4c6c222dfe18ad9039 Mon Sep 17 00:00:00 2001 From: Nicholas Witten Date: Thu, 4 Jun 2026 07:34:34 -0700 Subject: [PATCH] update robot friction params --- radio/ateam_radio_bridge/src/rnp_packet_helpers.cpp | 8 ++++++-- radio/ateam_radio_msgs/software-communication | 2 +- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/radio/ateam_radio_bridge/src/rnp_packet_helpers.cpp b/radio/ateam_radio_bridge/src/rnp_packet_helpers.cpp index fa36d72f..d5db8714 100644 --- a/radio/ateam_radio_bridge/src/rnp_packet_helpers.cpp +++ b/radio/ateam_radio_bridge/src/rnp_packet_helpers.cpp @@ -294,9 +294,9 @@ ParameterDataFormat GetParameterDataFormatForParameter(const ParameterName & par case PHYS_MOTOR_MODEL: return VEC2_F32; case PHYS_FRICTION_MODEL: + return VEC6_F32; + case FRICTION_COMP_GATING: return VEC4_F32; - case COULOMB_COMP_ACCEL_DEADZONE: - return F32; case POSE_CONTROL_GAIN: return VEC2_F32; case TRAJ_RECOMPUTE_ERROR: @@ -327,6 +327,8 @@ std::size_t GetDataSizeForParameterFormat(const ParameterDataFormat & format) return 4; case VEC5_F32: return 5; + case VEC6_F32: + return 6; default: throw std::invalid_argument("GetDataSizeForParameterFormat: Unrecognized parameter data format."); } @@ -346,6 +348,8 @@ float* GetParameterDataForSetFormat(ParameterCommand & command) return command.data.vec4_f32; case VEC5_F32: return command.data.vec5_f32; + case VEC6_F32: + return command.data.vec6_f32; default: throw std::invalid_argument("GetParameterDataForSetFormat: Unrecognized parameter data format."); } diff --git a/radio/ateam_radio_msgs/software-communication b/radio/ateam_radio_msgs/software-communication index 5f5b9004..cb32a651 160000 --- a/radio/ateam_radio_msgs/software-communication +++ b/radio/ateam_radio_msgs/software-communication @@ -1 +1 @@ -Subproject commit 5f5b900491156b0224100fe9e94ad842e97c5970 +Subproject commit cb32a651bde65ef70e90599dd2f96a43e06c46cc