Updated the science architecture for SAR#74
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HGardiner1 merged 10 commits intoumdloop:mainfrom Mar 12, 2026
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IshanDutta11
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Feb 23, 2026
IshanDutta11
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- Modified Xacro files to include joints and specs for motors that are accurate to SAR setup
- Refactored the science controller and its control scheme for SAR allowing for servos and talons to function
…renamed to auger lift
HGardiner1
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Mar 12, 2026
mdurrani808
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Apr 7, 2026
* controller changes for servo testing (these controllers need a lot of rework) * scoop talon work, many tings no work * modified talons for gobilda testing, will need testing to confirm if operational * saving progress, 1 servo and scoop talon moving * heavy modifications to controller, working manual science controller implementation * servos are more operable now, scoop servos are working * THE SCOOP SERVOS ARE ALL WORKING RAHHHH * scoop talon work, many tings no work * science now includes both sampler lift servos and cap servo has been renamed to auger lift * working setup for SAR --------- Co-authored-by: duttaishan01 <duttaishan01@FIGARO.myguest.virtualbox.org>
a-cires
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Apr 13, 2026
* controller changes for servo testing (these controllers need a lot of rework) * scoop talon work, many tings no work * modified talons for gobilda testing, will need testing to confirm if operational * saving progress, 1 servo and scoop talon moving * heavy modifications to controller, working manual science controller implementation * servos are more operable now, scoop servos are working * THE SCOOP SERVOS ARE ALL WORKING RAHHHH * scoop talon work, many tings no work * science now includes both sampler lift servos and cap servo has been renamed to auger lift * working setup for SAR --------- Co-authored-by: duttaishan01 <duttaishan01@FIGARO.myguest.virtualbox.org>
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