Work out the drive and steer current limits, gear ratios and wheel radius for the Kraken modules from the vendor spec. Don't copy the REV numbers over. Write down where each number came from.
Watch for current limits getting set in periodic, or getting set in two different places. Whichever one runs last wins and it might not be ours. Make sure exactly one place sets each limit.
The REV numbers won't transfer. Free speed is different per motor and picking the wrong one throws the drive feedforward off by more than ten percent.
Depends on: #79.
Work out the drive and steer current limits, gear ratios and wheel radius for the Kraken modules from the vendor spec. Don't copy the REV numbers over. Write down where each number came from.
Watch for current limits getting set in periodic, or getting set in two different places. Whichever one runs last wins and it might not be ours. Make sure exactly one place sets each limit.
The REV numbers won't transfer. Free speed is different per motor and picking the wrong one throws the drive feedforward off by more than ten percent.
Depends on: #79.