8 thruster yaml and wrench matrix

onboard/src/controls/config/crush.yaml

@@ -206,30 +206,39 @@ static_power_global:
   y: 0
   z: -0.206
 power_scale_factor: 1
+# all x positions assume the corner link is 10.41527MM +x than it actually is
 thrusters:
-  - name: middle_right
+  - name: middle_right_first
     type: T200
-    pos: [-0.2404152701, -0.42425, -0.003175]
+    pos: [-0.15501, -0.34805, -0.003175]
+    rpy: [0, 90, 0]
+  - name: middle_right_second
+    type: T200
+    pos: [-0.32582, -0.34805, -0.003175]
     rpy: [0, 90, 0]
   - name: front_right
     type: T200
-    pos: [3.360246e-05, -0.3867988726, -0.003175]
+    pos: [0.001895, -0.38866, -0.003175]
     rpy: [0, 0, -135]
   - name: back_right
     type: T200
-    pos: [-0.4808641427, -0.3867988726, -0.003175]
+    pos: [-0.48273, -0.38866, -0.003175]
     rpy: [0, 0, 135]
   - name: back_left
     type: T200
-    pos: [-0.4808641427, 0.09409887258, -0.003175]
+    pos: [-0.48273, 0.09596, -0.003175]
     rpy: [0, 0, -135]
-  - name: middle_left
+  - name: middle_left_first
+    type: T200
+    pos: [-0.15501, 0.05535, -0.003175]
+    rpy: [0, 90, 0]
+  - name: middle_left_second
     type: T200
-    pos: [-0.2404152701, 0.13155, -0.003175]
+    pos: [-0.32582, 0.05535, -0.003175]
     rpy: [0, 90, 0]
   - name: front_left
     type: T200
-    pos: [3.360246e-05, 0.09409887258, -0.003175]
+    pos: [0.001895, 0.09596, -0.003175]
     rpy: [0, 0, 135]
 wrench_matrix_file_path: data/crush_wrench.csv
 wrench_matrix_pinv_file_path: data/crush_wrench_pinv.csv

onboard/src/controls/data/crush_wrench.csv

@@ -1,6 +1,6 @@
-0.0,-0.7071067812,-0.7071067812,-0.7071067812,0.0,-0.7071067812
-0.0,-0.7071067812,0.7071067812,-0.7071067812,0.0,0.7071067812
--1.0,0.0,0.0,0.0,-1.0,0.0
-0.2779,0.0104651804,-0.0104651804,0.0104651804,-0.2779,-0.0104651804
-0.0,-0.0104651804,-0.0104651804,-0.0104651804,0.0,-0.0104651804
-0.0,-0.3400460567,-0.3400460567,0.3400460567,0.0,0.3400460567
+0.0,0.0,-0.7071067812,-0.7071067812,-0.7071067812,0.0,0.0,-0.7071067812
+0.0,0.0,-0.7071067812,0.7071067812,-0.7071067812,0.0,0.0,0.7071067812
+-1.0,-1.0,0.0,0.0,0.0,-1.0,-1.0,0.0
+0.6576125,0.6576125,0.1234785217,-0.1234785217,0.1234785217,0.2542125,0.2542125,-0.1234785217
+0.0754315,-0.0953785,-0.1234785217,-0.1234785217,-0.1234785217,0.0754315,-0.0953785,-0.1234785217
+0.0,0.0,-0.6580045792,-0.6721127737,0.0273551329,0.0,0.0,0.0132469384

onboard/src/controls/data/crush_wrench_pinv.csv

@@ -1,6 +1,8 @@
-0.0,0.0266282836,-0.5,1.7992083483,0.0,0.0
--0.3534759652,-0.3535533906,0.0,0.0,-0.0052314443,-0.7351945276
--0.3534759652,0.3535533906,0.0,0.0,-0.0052314443,-0.7351945276
--0.3534759652,-0.3535533906,0.0,0.0,-0.0052314443,0.7351945276
-0.0,-0.0266282836,-0.5,-1.7992083483,0.0,0.0
--0.3534759652,0.3535533906,0.0,0.0,-0.0052314443,0.7351945276
+-0.511167379,0.2164414973,0.285892663,1.2394645513,2.9272290849,0.0
+0.511167379,0.2164414973,0.3442821015,1.2394645513,-2.9272290849,0.0
+-0.0209452055,-0.3608313206,0.0,0.0,0.0,-0.729543904
+-0.0209452055,0.3462754606,0.0,0.0,0.0,-0.729543904
+-0.6861615757,-0.3462754606,0.0,0.0,0.0,0.729543904
+-0.511167379,-0.2164414973,-0.8442821015,-1.2394645513,2.9272290849,0.0
+0.511167379,-0.2164414973,-0.785892663,-1.2394645513,-2.9272290849,0.0
+-0.6861615757,0.3608313206,0.0,0.0,0.0,0.729543904

onboard/src/offboard_comms/config/crush.yaml

@@ -38,7 +38,10 @@ gyro:
 modem:
   ftdi: CP2102
 thrusters:
-  - name: middle_right
+  - name: middle_right_first # TODO: Validate cw and standard_esc values for all middle_left and middle_right thrusters
+    cw: false
+    standard_esc: false
+  - name: middle_right_second
     cw: false
     standard_esc: false
   - name: front_right
@@ -50,7 +53,10 @@ thrusters:
   - name: back_left
     cw: true
     standard_esc: false
-  - name: middle_left
+  - name: middle_left_first
+    cw: true
+    standard_esc: true
+  - name: middle_left_second
     cw: true
     standard_esc: true
   - name: front_left

onboard/src/offboard_comms/sketches/thruster/thruster.ino

@@ -55,7 +55,7 @@ void setup() {
             THRUSTER_PWM_OFFSET = 57;
             break;
         case CRUSH:
-            NUM_THRUSTERS = 6;
+            NUM_THRUSTERS = 8;
             THRUSTER_PWM_OFFSET = 63;
             break;
         default:

onboard/src/task_planning/task_planning/tasks/prequal_tasks.py

@@ -16,6 +16,7 @@
 LANE_MARKER_HEIGHT_METERS = 0.3048
 
 
+
 @task
 async def prequal_task(self: Task) -> Task[None, None, None]:  # noqa: PLR0915
     """Complete the prequalification task by tracking the lane marker."""