[TASK] Develop guidance and control module for the gripper

[Andeshog]

Description of task

The task is to develop a way for the gripper to follow a set of reference values. The gripper is composed of 3 parts; the shoulder for pitching, the arm for rolling and the fingers for gripping. Each part has an encoder to provide angle feedback. The movement of the gripper is commanded with PWM signals, similar to the thrusters. The interface which sends those PWM signals is found in this repository. The controller in this task will send commands to the interface, which is then converted to PWM and sent to the gripper servos.

Suggested Workflow

• Conduct physical testing with the gripper to learn how it works.
• Write the controller and guidance code.
• Verify that it works in the simulator.
• Verify that it works in a physical test.

Specifications

• A recommendation for the guidance system is to use a reference filter, since it will create a smooth trajectory from point A to point B.
• The guidance system should also be an action server, so that it easily can handle cancel requests.

Contacts

• @Andeshog

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)