setup dribbler interface#3732
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…are into motor_driver_integration
…or_driver_integration
GrayHoang
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williamckha
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sunghyuneun
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May 29, 2026
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You should be able to see this on the Altium. This is the Power Board, on the ESP32. The pin number is 4 in our case, but being able to see this is a benefits of having Altium access.
GrayHoang
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May 29, 2026
| } | ||
| else | ||
| { | ||
| power_service_ = std::make_unique<PowerServiceWithDribble>(); |
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This needs to become a shared_ptr to be shared with the motor drivers, but in doing so it means that the trinamics instance also has to track a shared_ptr instead of a unique_ptr
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Description
This PR adjusts our MotorService and powerboard firmware to incorporate the new dribbler motor.
Due to backward compatibility requirements and restrictions with the way dribble commands are packaged and sent to MotorService, this requires that the Stspin and Trinamic motor controllers handle dribble commands differently.
Namely, the Stspin motor controller is made aware of the PowerService instance owned by Thunderloop, and passes dribble commands to PowerService accordingly.
The effect is that Thunderloop must initiate the appropriate type of PowerService and feed it to the motor controller if needed (See thunderloop.cpp line 125 and stspin_motor_controller.cpp line 179).
Please look at the changed protobuf files, I have no idea if I setup message translation, uart framing, and protobuffer types correctly. (powerframe_msg.hpp/.proto).
Powerloop incorporates some rudimentary PWM ramping. RPM is expected to be passed down from somewhere in software. (powerloop_main.cc line 106).
Testing Done
Resolved Issues
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue