Updated thermal ranges.

clearpathrobotics · Jan 24, 2025 · 2b2d421 · 2b2d421
1 parent 0f87275
commit 2b2d421
Showing 1 changed file with 23 additions and 23 deletions.
diff --git a/clearpath_hardware_interfaces/src/a300/fan_control.cpp b/clearpath_hardware_interfaces/src/a300/fan_control.cpp
@@ -84,24 +84,24 @@ class ThermalSensors
   {
     sensors = 
     {
-      {"mcu",          ThermalSensor{0, 30, 45, 60}},
-      {"fan1",         ThermalSensor{5, 30, 45, 60}},
-      {"fan2",         ThermalSensor{5, 30, 45, 60}},
-      {"fan3",         ThermalSensor{5, 30, 45, 60}},
-      {"fan4",         ThermalSensor{5, 30, 45, 60}},
-      {"5v_inductor",  ThermalSensor{0, 30, 45, 60}},
-      {"main_gnd_lug", ThermalSensor{0, 30, 45, 60}},
-      {"dcdc_24v",     ThermalSensor{0, 30, 45, 60}},
-      {"dcdc_12v",     ThermalSensor{0, 30, 45, 60}},
-      {"battery",      ThermalSensor{5, 30, 45, 60}},
-      {"pcb_motor1",   ThermalSensor{0, 30, 50, 70}},
-      {"mcu_motor1",   ThermalSensor{0, 30, 50, 70}},
-      {"pcb_motor2",   ThermalSensor{0, 30, 50, 70}},
-      {"mcu_motor2",   ThermalSensor{0, 30, 50, 70}},
-      {"pcb_motor3",   ThermalSensor{0, 30, 50, 70}},
-      {"mcu_motor3",   ThermalSensor{0, 30, 50, 70}},
-      {"pcb_motor4",   ThermalSensor{0, 30, 50, 70}},
-      {"mcu_motor4",   ThermalSensor{0, 30, 50, 70}},
+      {"mcu",          ThermalSensor{-20, 0, 60, 80}},
+      {"fan1",         ThermalSensor{-20, 0, 60, 80}},
+      {"fan2",         ThermalSensor{-20, 0, 60, 80}},
+      {"fan3",         ThermalSensor{-20, 0, 60, 80}},
+      {"fan4",         ThermalSensor{-20, 0, 60, 80}},
+      {"5v_inductor",  ThermalSensor{-20, 0, 60, 80}},
+      {"main_gnd_lug", ThermalSensor{-20, 0, 60, 80}},
+      {"dcdc_24v",     ThermalSensor{-20, 0, 60, 80}},
+      {"dcdc_12v",     ThermalSensor{-20, 0, 60, 80}},
+      {"battery",      ThermalSensor{-20, 0, 60, 80}},
+      {"pcb_motor1",   ThermalSensor{-20, 0, 60, 80}},
+      {"mcu_motor1",   ThermalSensor{-20, 0, 60, 80}},
+      {"pcb_motor2",   ThermalSensor{-20, 0, 60, 80}},
+      {"mcu_motor2",   ThermalSensor{-20, 0, 60, 80}},
+      {"pcb_motor3",   ThermalSensor{-20, 0, 60, 80}},
+      {"mcu_motor3",   ThermalSensor{-20, 0, 60, 80}},
+      {"pcb_motor4",   ThermalSensor{-20, 0, 60, 80}},
+      {"mcu_motor4",   ThermalSensor{-20, 0, 60, 80}},
     };
   }
 
@@ -113,7 +113,7 @@ class ThermalSensors
     }
     else
     {
-      RCLCPP_WARN(rclcpp::get_logger("ThermalSensors"), "Could not find sensor %s", name.c_str());
+      RCLCPP_WARN(rclcpp::get_logger("a300_fan_controller"), "Could not find thermal sensor %s", name.c_str());
     }
   }
 
@@ -125,7 +125,7 @@ class ThermalSensors
       {
         if (sensor.second.getStatus() >= ThermalStatus::Normal)
         {
-          RCLCPP_WARN(rclcpp::get_logger("ThermalSensors"), "Thermal sensor %s has %s", 
+          RCLCPP_WARN(rclcpp::get_logger("a300_fan_controller"), "Thermal sensor %s has %s", 
           sensor.first.c_str(), thermalStatusToString(sensor.second.getStatus()).c_str());
         }
 
@@ -182,13 +182,13 @@ class FanController : public rclcpp::Node
     clearpath_platform_msgs::msg::Fans fans_msg;
     fans_msg.fans = {fan_value, fan_value, fan_value, fan_value, 0, 0, 0, 0};
     fan_publisher_->publish(fans_msg);
-    RCLCPP_INFO(get_logger(), "Set all fans to: %d", fan_value);
+    RCLCPP_DEBUG(get_logger(), "Set all fans to: %d", fan_value);
   }
 
 public:
-  FanController() : Node("fan_controller")
+  FanController() : Node("a300_fan_controller")
   {
-    fan_publisher_ = create_publisher<clearpath_platform_msgs::msg::Fans>(FAN_CONTROL_TOPIC_NAME, 
+    fan_publisher_ = create_publisher<clearpath_platform_msgs::msg::Fans>(FAN_CONTROL_TOPIC_NAME,
         rclcpp::SensorDataQoS());
 
     temp_subscription_ = create_subscription<clearpath_platform_msgs::msg::Temperature>(