From 3078c52150c41751326f9d8d923eeea907fe6f7f Mon Sep 17 00:00:00 2001 From: husky-robotics Date: Fri, 12 Apr 2024 03:04:54 +0000 Subject: [PATCH] deploy: 08a9174559937d1b4e2e8c4491b4077177cd0177 --- Constants_8h_source.html | 175 ++++++++++++++++++++------------------- 1 file changed, 88 insertions(+), 87 deletions(-) diff --git a/Constants_8h_source.html b/Constants_8h_source.html index f70c7d6d..a35299e9 100644 --- a/Constants_8h_source.html +++ b/Constants_8h_source.html @@ -130,93 +130,94 @@
59// TODO: We need to recalibrate the camera, since we replaced it with a different one.
60// TODO: rename cameras (in MC as well) as appropriate
61constexpr const char* MAST_CAMERA_CONFIG_PATH = "../camera-config/MastCameraCalibration.yml";
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62const robot::types::CameraID MAST_CAMERA_ID = "front"; // TODO: replace with real camera name
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63
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64constexpr const char* FOREARM_CAMERA_CONFIG_PATH =
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65 "../camera-config/ForearmCameraCalibration.yml";
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66const robot::types::CameraID FOREARM_CAMERA_ID = "rear";
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67
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68constexpr const char* HAND_CAMERA_CONFIG_PATH = "../camera-config/HandCameraCalibration.yml";
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69const robot::types::CameraID HAND_CAMERA_ID = "upperArm";
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70
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74constexpr uint16_t PLANVIZ_SERVER_PORT = 9002;
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75constexpr uint16_t WS_SERVER_PORT = 3001;
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76
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80constexpr const char* MC_PROTOCOL_NAME = "/mission-control";
-
84constexpr const char* SIM_PROTOCOL_NAME = "/simulator";
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88constexpr const char* DGPS_PROTOCOL_NAME = "/dgps";
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92constexpr const char* ARDUPILOT_PROTOCOL_NAME = "/ardupilot";
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93
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94constexpr std::chrono::milliseconds JOINT_POWER_REPEAT_PERIOD(333);
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95constexpr std::chrono::milliseconds ARM_IK_UPDATE_PERIOD(50);
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96
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97namespace Nav {
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98// Distance (m) we could have traveled forward in the time it takes to turn 1 radian
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99constexpr double RADIAN_COST = EFF_WHEEL_BASE / 2.0;
-
100// Planner stays this far away from obstacles (m)
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101constexpr double SAFE_RADIUS = Constants::ROBOT_LENGTH * 1.3;
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102constexpr int MAX_ITERS = 3000; // Max number of nodes expanded during A* search
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103constexpr double PLAN_RESOLUTION = Constants::ROBOT_LENGTH; // m
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104constexpr double SEARCH_RADIUS_INCREMENT = Constants::ROBOT_LENGTH * 3;
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105constexpr double GPS_WAYPOINT_RADIUS = Constants::ROBOT_LENGTH * 1.5;
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106constexpr double LANDMARK_WAYPOINT_RADIUS = Constants::ROBOT_LENGTH * 1.3;
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107constexpr double EPS = 2.0; // heuristic weight for weighted A*
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108} // namespace Nav
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109
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110// Lidar
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111namespace Lidar {
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112const std::string RP_PATH = "/dev/ttyUSB0";
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113constexpr double MM_PER_M = 1000;
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114constexpr uint32_t RPLIDAR_A1_BAUDRATE = 115200;
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115constexpr uint32_t RPLIDAR_S1_BAUDRATE = 256000;
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116} // namespace Lidar
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117
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118// Video encoding
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119namespace video {
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120constexpr int H264_RF_CONSTANT = 40;
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121} // namespace video
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122
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126constexpr frozen::unordered_map<robot::types::jointid_t, robot::types::motorid_t, 7>
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127 JOINT_MOTOR_MAP{{robot::types::jointid_t::armBase, robot::types::motorid_t::armBase},
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128 {robot::types::jointid_t::shoulder, robot::types::motorid_t::shoulder},
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129 {robot::types::jointid_t::elbow, robot::types::motorid_t::elbow},
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130 {robot::types::jointid_t::forearm, robot::types::motorid_t::forearm},
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131 {robot::types::jointid_t::wrist, robot::types::motorid_t::wrist},
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132 {robot::types::jointid_t::hand, robot::types::motorid_t::hand},
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133 {robot::types::jointid_t::activeSuspension,
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134 robot::types::motorid_t::activeSuspension}};
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135
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136// Arm inverse kinematics
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137namespace arm {
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141constexpr double SAFETY_FACTOR = 0.95;
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142
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146constexpr double MAX_EE_VEL = 0.1;
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147constexpr double IK_SOLVER_THRESH = 0.001;
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148
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149constexpr int IK_SOLVER_MAX_ITER = 50;
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150
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155constexpr std::array<robot::types::jointid_t, 2> IK_MOTOR_JOINTS = {
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156 robot::types::jointid_t::shoulder, robot::types::jointid_t::elbow};
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157
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162constexpr std::array<robot::types::motorid_t, 2> IK_MOTORS = ([]() constexpr {
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163 std::array<robot::types::motorid_t, IK_MOTOR_JOINTS.size()> ret{};
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164 for (size_t i = 0; i < IK_MOTOR_JOINTS.size(); i++) {
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165 ret[i] = JOINT_MOTOR_MAP.at(IK_MOTOR_JOINTS[i]);
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166 }
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167 return ret;
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168})();
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169
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173constexpr frozen::unordered_map<robot::types::motorid_t, std::pair<int, int>, IK_MOTORS.size()>
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174 JOINT_LIMITS{{robot::types::motorid_t::shoulder, {18200, 152500}},
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175 {robot::types::motorid_t::elbow, {-169100, 0}}};
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176
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180constexpr frozen::unordered_map<robot::types::motorid_t, double, IK_MOTORS.size()>
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181 SEGMENT_LENGTHS{{robot::types::motorid_t::shoulder, 0.3848608},
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182 {robot::types::motorid_t::elbow, 0.461264}};
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183} // namespace arm
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184
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185constexpr double CONTROL_HZ = 10.0;
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186} // namespace Constants
+
62const robot::types::CameraID MAST_CAMERA_ID =
+
63 "upperArm"; // TODO: replace with real camera name
+
64
+
65constexpr const char* FOREARM_CAMERA_CONFIG_PATH =
+
66 "../camera-config/ForearmCameraCalibration.yml";
+
67const robot::types::CameraID FOREARM_CAMERA_ID = "rear";
+
68
+
69constexpr const char* HAND_CAMERA_CONFIG_PATH = "../camera-config/HandCameraCalibration.yml";
+
70const robot::types::CameraID HAND_CAMERA_ID = "front";
+
71
+
75constexpr uint16_t PLANVIZ_SERVER_PORT = 9002;
+
76constexpr uint16_t WS_SERVER_PORT = 3001;
+
77
+
81constexpr const char* MC_PROTOCOL_NAME = "/mission-control";
+
85constexpr const char* SIM_PROTOCOL_NAME = "/simulator";
+
89constexpr const char* DGPS_PROTOCOL_NAME = "/dgps";
+
93constexpr const char* ARDUPILOT_PROTOCOL_NAME = "/ardupilot";
+
94
+
95constexpr std::chrono::milliseconds JOINT_POWER_REPEAT_PERIOD(333);
+
96constexpr std::chrono::milliseconds ARM_IK_UPDATE_PERIOD(50);
+
97
+
98namespace Nav {
+
99// Distance (m) we could have traveled forward in the time it takes to turn 1 radian
+
100constexpr double RADIAN_COST = EFF_WHEEL_BASE / 2.0;
+
101// Planner stays this far away from obstacles (m)
+
102constexpr double SAFE_RADIUS = Constants::ROBOT_LENGTH * 1.3;
+
103constexpr int MAX_ITERS = 3000; // Max number of nodes expanded during A* search
+
104constexpr double PLAN_RESOLUTION = Constants::ROBOT_LENGTH; // m
+
105constexpr double SEARCH_RADIUS_INCREMENT = Constants::ROBOT_LENGTH * 3;
+
106constexpr double GPS_WAYPOINT_RADIUS = Constants::ROBOT_LENGTH * 1.5;
+
107constexpr double LANDMARK_WAYPOINT_RADIUS = Constants::ROBOT_LENGTH * 1.3;
+
108constexpr double EPS = 2.0; // heuristic weight for weighted A*
+
109} // namespace Nav
+
110
+
111// Lidar
+
112namespace Lidar {
+
113const std::string RP_PATH = "/dev/ttyUSB0";
+
114constexpr double MM_PER_M = 1000;
+
115constexpr uint32_t RPLIDAR_A1_BAUDRATE = 115200;
+
116constexpr uint32_t RPLIDAR_S1_BAUDRATE = 256000;
+
117} // namespace Lidar
+
118
+
119// Video encoding
+
120namespace video {
+
121constexpr int H264_RF_CONSTANT = 40;
+
122} // namespace video
+
123
+
127constexpr frozen::unordered_map<robot::types::jointid_t, robot::types::motorid_t, 7>
+
128 JOINT_MOTOR_MAP{{robot::types::jointid_t::armBase, robot::types::motorid_t::armBase},
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129 {robot::types::jointid_t::shoulder, robot::types::motorid_t::shoulder},
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130 {robot::types::jointid_t::elbow, robot::types::motorid_t::elbow},
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131 {robot::types::jointid_t::forearm, robot::types::motorid_t::forearm},
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132 {robot::types::jointid_t::wrist, robot::types::motorid_t::wrist},
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133 {robot::types::jointid_t::hand, robot::types::motorid_t::hand},
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134 {robot::types::jointid_t::activeSuspension,
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135 robot::types::motorid_t::activeSuspension}};
+
136
+
137// Arm inverse kinematics
+
138namespace arm {
+
142constexpr double SAFETY_FACTOR = 0.95;
+
143
+
147constexpr double MAX_EE_VEL = 0.1;
+
148constexpr double IK_SOLVER_THRESH = 0.001;
+
149
+
150constexpr int IK_SOLVER_MAX_ITER = 50;
+
151
+
156constexpr std::array<robot::types::jointid_t, 2> IK_MOTOR_JOINTS = {
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157 robot::types::jointid_t::shoulder, robot::types::jointid_t::elbow};
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158
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163constexpr std::array<robot::types::motorid_t, 2> IK_MOTORS = ([]() constexpr {
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164 std::array<robot::types::motorid_t, IK_MOTOR_JOINTS.size()> ret{};
+
165 for (size_t i = 0; i < IK_MOTOR_JOINTS.size(); i++) {
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166 ret[i] = JOINT_MOTOR_MAP.at(IK_MOTOR_JOINTS[i]);
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167 }
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168 return ret;
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169})();
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170
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174constexpr frozen::unordered_map<robot::types::motorid_t, std::pair<int, int>, IK_MOTORS.size()>
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175 JOINT_LIMITS{{robot::types::motorid_t::shoulder, {18200, 152500}},
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176 {robot::types::motorid_t::elbow, {-169100, 0}}};
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177
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181constexpr frozen::unordered_map<robot::types::motorid_t, double, IK_MOTORS.size()>
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182 SEGMENT_LENGTHS{{robot::types::motorid_t::shoulder, 0.3848608},
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183 {robot::types::motorid_t::elbow, 0.461264}};
+
184} // namespace arm
+
185
+
186constexpr double CONTROL_HZ = 10.0;
+
187} // namespace Constants
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