Extend tb3 to read pins A0-A5

[travis-mendoza]

This PR extends the existing TurtleBot3 firmware for ROS 2 to read the analog pins A0-A5.

[gemini-code-assist]

Hello @travis-mendoza, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

This pull request extends the TurtleBot3 firmware for ROS 2 to enable reading analog pins A0-A5. I've added the necessary definitions and functions to read the analog values and make them accessible through the DYNAMIXEL communication protocol. This will allow users to connect analog sensors to the TurtleBot3 and integrate their readings into ROS 2 applications.

Highlights

• Analog Pin Support: Added support for reading analog pins A0-A5 on the TurtleBot3.
• Control Item Integration: Integrated the analog pin readings into the DYNAMIXEL control table for easy access.
• Firmware Update: Updated the firmware version and added a melody to indicate the modified firmware is running.

Changelog

• arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp
  • Added update_analog_pins function declaration.
  • Added ADDR_ANALOG_A0 to ADDR_ANALOG_A5 to the ControlTableItemAddr enum.
  • Added analog_pins[6] to the ControlItemVariables struct to store analog pin values.
  • Added control items for analog pins A0-A5 in the TurtleBot3Core::begin function.
  • Modified TurtleBot3Core::begin to play melody 3 and print a version message.
  • Called update_analog_pins in the TurtleBot3Core::run function.
  • Added update_analog_pins function definition to read analog pin values.

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Six analog eyes,
See voltage, a silent hum,
Data flows to ROS.

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[gemini-code-assist]

Code Review

This PR introduces the functionality to read analog pins A0-A5 on the TurtleBot3. The changes seem well-structured and the code is generally clear. However, there are a few points that could be improved for better maintainability and clarity.

Summary of Findings

• Magic Numbers: The analog pin numbers (A0, A1, etc.) are used directly in the update_analog_pins function. Defining these as constants would improve readability and maintainability.
• Firmware Versioning: The firmware version string is hardcoded. It would be better to define it as a constant or use a build system to automatically generate it.
• Comment Consistency: There are some inconsistencies in the commenting style (e.g., spacing after //). While minor, addressing these would improve overall code appearance.

Merge Readiness

The pull request is almost ready for merging. Addressing the comments regarding magic numbers and firmware versioning would significantly improve the code quality. The comment consistency issue is minor and can be addressed at the author's discretion. I am unable to approve this pull request, and recommend that others review and approve this code before merging.

[GyuH13]

Hello, @travis-mendoza
Thanks for contribution.
As with the TB3, we will take action after review and discussion.
Thanks!!