added spring and pto (still need a couple pto losses)

Signed-off-by: Michael Anderson <[email protected]>
osrf · Aug 25, 2023 · d7ac2c3 · d7ac2c3
1 parent 7d87e1f
commit d7ac2c3
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diff --git a/buoy_interfaces/CMakeLists.txt b/buoy_interfaces/CMakeLists.txt
@@ -13,7 +13,9 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/AirSpring.msg"
   "msg/BCRecord.msg"
+  "msg/ElectroHydraulic.msg"
   "msg/IncWaveHeight.msg"
   "msg/LatentData.msg"
   "msg/PBCommandResponse.msg"

diff --git a/buoy_interfaces/msg/AirSpring.msg b/buoy_interfaces/msg/AirSpring.msg
@@ -0,0 +1,5 @@
+float64 force  # Newtons
+float64 temperature  # K
+float64 heat_loss  # dQ/dt in Watts
+float64 piston_position  # meters
+float64 piston_velocity  # m/s
diff --git a/buoy_interfaces/msg/ElectroHydraulic.msg b/buoy_interfaces/msg/ElectroHydraulic.msg
@@ -0,0 +1,7 @@
+float64 inst_power  # Watts
+float64 rpm
+
+float64 motor_drive_i2r_loss
+float64 motor_drive_switching_loss
+float64 motor_drive_friction_loss
+float64 battery_i2r_loss
diff --git a/buoy_interfaces/msg/LatentData.msg b/buoy_interfaces/msg/LatentData.msg
@@ -2,4 +2,9 @@ std_msgs/Header header
 
 IncWaveHeight[] inc_wave_heights
 
+AirSpring upper_spring
+AirSpring lower_spring
+
+ElectroHydraulic electro_hydraulic
+
 # TODO(andermi) fill in other stuff