diff --git a/ArduPilotProtocol_8h_source.html b/ArduPilotProtocol_8h_source.html index 3862ce1f..d2184ff2 100644 --- a/ArduPilotProtocol_8h_source.html +++ b/ArduPilotProtocol_8h_source.html @@ -198,7 +198,7 @@
net::ardupilot::ArduPilotProtocol
Definition ArduPilotProtocol.h:15
net::websocket::SingleClientWSServer
A WebSocket server class that only accepts a single client at a time to each endpoint served by this ...
Definition WebSocketServer.h:35
nlohmann::basic_json
-
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:134
diff --git a/CANMotor_8h_source.html b/CANMotor_8h_source.html index f118f354..14e02a50 100644 --- a/CANMotor_8h_source.html +++ b/CANMotor_8h_source.html @@ -159,23 +159,23 @@ -
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:134
can::motor
Utilities for interacting with motor boards over a CAN interface.
Definition CANMotor.cpp:20
-
can::motor::pullMotorPosition
void pullMotorPosition(deviceserial_t serial)
Poll the position data from a motor board.
Definition CANMotor.cpp:131
-
can::motor::setMotorPower
void setMotorPower(deviceserial_t serial, double power)
Set the power output of a motor board.
Definition CANMotor.cpp:100
-
can::motor::getMotorPosition
DataPoint< int32_t > getMotorPosition(deviceserial_t serial)
Get the last reported position of a motor.
Definition CANMotor.cpp:126
+
can::motor::pullMotorPosition
void pullMotorPosition(deviceserial_t serial)
Poll the position data from a motor board.
Definition CANMotor.cpp:134
+
can::motor::setMotorPower
void setMotorPower(deviceserial_t serial, double power)
Set the power output of a motor board.
Definition CANMotor.cpp:103
+
can::motor::getMotorPosition
DataPoint< int32_t > getMotorPosition(deviceserial_t serial)
Get the last reported position of a motor.
Definition CANMotor.cpp:129
can::motor::initEncoder
void initEncoder(deviceserial_t serial, bool invertEncoder, bool zeroEncoder, int32_t pulsesPerJointRev, std::optional< std::chrono::milliseconds > telemetryPeriod)
Initialize an encoder attached to the given motor.
Definition CANMotor.cpp:22
can::motor::motormode_t
motormode_t
The possible motor modes.
Definition CANMotor.h:19
-
can::motor::addLimitSwitchCallback
callbackid_t addLimitSwitchCallback(deviceserial_t serial, const std::function< void(deviceserial_t serial, DataPoint< LimitSwitchData > limitSwitchData)> &callback)
Add a callback that is invoked when the limit switch is triggered for a motor board.
Definition CANMotor.cpp:135
-
can::motor::setMotorPIDTarget
void setMotorPIDTarget(deviceserial_t serial, int32_t target)
Set the position PID target of a motor board.
Definition CANMotor.cpp:113
+
can::motor::addLimitSwitchCallback
callbackid_t addLimitSwitchCallback(deviceserial_t serial, const std::function< void(deviceserial_t serial, DataPoint< LimitSwitchData > limitSwitchData)> &callback)
Add a callback that is invoked when the limit switch is triggered for a motor board.
Definition CANMotor.cpp:138
+
can::motor::setMotorPIDTarget
void setMotorPIDTarget(deviceserial_t serial, int32_t target)
Set the position PID target of a motor board.
Definition CANMotor.cpp:116
can::motor::initPotentiometer
void initPotentiometer(deviceserial_t serial, int32_t posLo, int32_t posHi, uint16_t adcLo, uint16_t adcHi, std::optional< std::chrono::milliseconds > telemetryPeriod)
Initialize a potentiometer attached to the given motor.
Definition CANMotor.cpp:40
-
can::motor::removeLimitSwitchCallback
void removeLimitSwitchCallback(callbackid_t id)
Remove a previously registered limit switch callback.
Definition CANMotor.cpp:153
-
can::motor::setMotorMode
void setMotorMode(deviceserial_t serial, motormode_t mode)
Set the mode of a motor board.
Definition CANMotor.cpp:92
-
can::motor::setLimitSwitchLimits
void setLimitSwitchLimits(deviceserial_t serial, int32_t lo, int32_t hi)
Set the limits of the limit switch on a motor board.
Definition CANMotor.cpp:68
-
can::motor::emergencyStopMotors
void emergencyStopMotors()
Emergency stop all motors on the CAN bus.
Definition CANMotor.cpp:55
-
can::motor::initMotor
void initMotor(deviceserial_t serial)
Initialize a motor.
Definition CANMotor.cpp:63
-
can::motor::setServoPos
void setServoPos(deviceserial_t serial, uint8_t servoNum, int32_t angle)
Set the angle of the PCA servo.
Definition CANMotor.cpp:119
-
can::motor::setMotorPIDConstants
void setMotorPIDConstants(deviceserial_t serial, int32_t kP, int32_t kI, int32_t kD)
Set the PID constants for a motor board.
Definition CANMotor.cpp:80
+
can::motor::removeLimitSwitchCallback
void removeLimitSwitchCallback(callbackid_t id)
Remove a previously registered limit switch callback.
Definition CANMotor.cpp:156
+
can::motor::setMotorMode
void setMotorMode(deviceserial_t serial, motormode_t mode)
Set the mode of a motor board.
Definition CANMotor.cpp:95
+
can::motor::setLimitSwitchLimits
void setLimitSwitchLimits(deviceserial_t serial, int32_t lo, int32_t hi)
Set the limits of the limit switch on a motor board.
Definition CANMotor.cpp:69
+
can::motor::emergencyStopMotors
void emergencyStopMotors()
Emergency stop all motors on the CAN bus.
Definition CANMotor.cpp:56
+
can::motor::initMotor
void initMotor(deviceserial_t serial)
Initialize a motor.
Definition CANMotor.cpp:64
+
can::motor::setServoPos
void setServoPos(deviceserial_t serial, uint8_t servoNum, int32_t angle)
Set the angle of the PCA servo.
Definition CANMotor.cpp:122
+
can::motor::setMotorPIDConstants
void setMotorPIDConstants(deviceserial_t serial, int32_t kP, int32_t kI, int32_t kD)
Set the PID constants for a motor board.
Definition CANMotor.cpp:81
can::deviceserial_t
uint8_t deviceserial_t
The type of the device serial number.
Definition CANUtils.h:64
uint8_t
::uint8_t uint8_t
uint16_t
::uint16_t uint16_t
diff --git a/CAN_8h_source.html b/CAN_8h_source.html index aa4b6065..01fa807d 100644 --- a/CAN_8h_source.html +++ b/CAN_8h_source.html @@ -144,7 +144,7 @@ -
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:134
can
Utilities for interacting with CAN devices.
Definition CAN.cpp:43
can::unscheduleTelemetryPull
void unscheduleTelemetryPull(deviceid_t id, telemtype_t telemType)
Stop pulling the latest telemetry data from the given device.
Definition CAN.cpp:337
can::getDeviceTelemetry
robot::types::DataPoint< telemetry_t > getDeviceTelemetry(deviceid_t id, telemtype_t telemType)
Get the latest telemetry from a CAN device.
Definition CAN.cpp:285
diff --git a/Constants_8h_source.html b/Constants_8h_source.html index f4d177fb..b6c60fad 100644 --- a/Constants_8h_source.html +++ b/Constants_8h_source.html @@ -186,18 +186,17 @@
129extern const std::unordered_map<robot::types::CameraID, int> STREAM_RFS;
130} // namespace video
131
-
135constexpr auto JOINT_MOTOR_MAP =
-
136 frozen::make_unordered_map<robot::types::jointid_t, robot::types::motorid_t>(
-
137 {{robot::types::jointid_t::frontLeftSwerve, robot::types::motorid_t::frontLeftSwerve},
-
138 {robot::types::jointid_t::frontRightSwerve,
-
139 robot::types::motorid_t::frontRightSwerve},
-
140 {robot::types::jointid_t::rearLeftSwerve, robot::types::motorid_t::rearLeftSwerve},
-
141 {robot::types::jointid_t::rearRightSwerve, robot::types::motorid_t::rearRightSwerve},
-
142 {robot::types::jointid_t::armBase, robot::types::motorid_t::armBase},
-
143 {robot::types::jointid_t::shoulder, robot::types::motorid_t::shoulder},
-
144 {robot::types::jointid_t::elbow, robot::types::motorid_t::elbow},
-
145 {robot::types::jointid_t::forearm, robot::types::motorid_t::forearm},
-
146 {robot::types::jointid_t::wrist, robot::types::motorid_t::wrist},
+
136constexpr auto JOINT_MOTOR_MAP =
+
137 frozen::make_unordered_map<robot::types::jointid_t, robot::types::motorid_t>(
+
138 {{robot::types::jointid_t::frontLeftSwerve, robot::types::motorid_t::frontLeftSwerve},
+
139 {robot::types::jointid_t::frontRightSwerve,
+
140 robot::types::motorid_t::frontRightSwerve},
+
141 {robot::types::jointid_t::rearLeftSwerve, robot::types::motorid_t::rearLeftSwerve},
+
142 {robot::types::jointid_t::rearRightSwerve, robot::types::motorid_t::rearRightSwerve},
+
143 {robot::types::jointid_t::armBase, robot::types::motorid_t::armBase},
+
144 {robot::types::jointid_t::shoulder, robot::types::motorid_t::shoulder},
+
145 {robot::types::jointid_t::elbow, robot::types::motorid_t::elbow},
+
146 {robot::types::jointid_t::forearm, robot::types::motorid_t::forearm},
147 {robot::types::jointid_t::hand, robot::types::motorid_t::hand},
148 {robot::types::jointid_t::activeSuspension,
149 robot::types::motorid_t::activeSuspension}});
diff --git a/Globals_8h_source.html b/Globals_8h_source.html index 6ac34236..8b62e214 100644 --- a/Globals_8h_source.html +++ b/Globals_8h_source.html @@ -104,36 +104,39 @@
3#include "control/PlanarArmController.h"
4#include "control/SwerveController.h"
5#include "kinematics/ArmKinematics.h"
-
6#include "network/websocket/WebSocketServer.h"
-
7#include "world_interface/data.h"
-
8
-
9#include <atomic>
-
10#include <vector>
-
11
-
15enum class RoverState {
-
16 RemoteControl,
-
17 DrivingToWaypoint,
-
18 LookingForTennisball,
-
19};
-
20
-
21// NOTE(sasha): To keep linker happy, declare globals with "extern" here and then
-
22// provide variable definition in Globals.cpp
-
23namespace Globals {
-
27extern RoverState curr_state;
-
28extern net::websocket::SingleClientWSServer websocketServer;
-
29extern std::atomic<bool> AUTONOMOUS;
-
30extern robot::types::mountedperipheral_t mountedPeripheral;
-
31extern control::PlanarArmController<2> planarArmController;
-
32extern control::SwerveController swerveController;
-
33extern std::atomic<bool> armIKEnabled;
-
34} // namespace Globals
+
6#include "kinematics/DiffWristKinematics.h"
+
7#include "network/websocket/WebSocketServer.h"
+
8#include "world_interface/data.h"
+
9
+
10#include <atomic>
+
11#include <vector>
+
12
+
16enum class RoverState {
+
17 RemoteControl,
+
18 DrivingToWaypoint,
+
19 LookingForTennisball,
+
20};
+
21
+
22// NOTE(sasha): To keep linker happy, declare globals with "extern" here and then
+
23// provide variable definition in Globals.cpp
+
24namespace Globals {
+
28extern RoverState curr_state;
+
29extern net::websocket::SingleClientWSServer websocketServer;
+
30extern std::atomic<bool> AUTONOMOUS;
+
31extern robot::types::mountedperipheral_t mountedPeripheral;
+
32extern control::PlanarArmController<2> planarArmController;
+
33extern const kinematics::DiffWristKinematics wristKinematics;
+
34extern control::SwerveController swerveController;
+
35extern std::atomic<bool> armIKEnabled;
+
36} // namespace Globals
control::PlanarArmController
Controller to move planar arm to a target end effector position.
Definition PlanarArmController.h:28
control::SwerveController
Controller to handle the wheel rotations for driving with swerve modes.
Definition SwerveController.h:56
+
kinematics::DiffWristKinematics
Represents the kinematics of a differential wrist.
Definition DiffWristKinematics.h:84
net::websocket::SingleClientWSServer
A WebSocket server class that only accepts a single client at a time to each endpoint served by this ...
Definition WebSocketServer.h:35
-
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:76
+
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:77
diff --git a/JacobianPosController_8h_source.html b/JacobianPosController_8h_source.html index 42378871..71fabd82 100644 --- a/JacobianPosController_8h_source.html +++ b/JacobianPosController_8h_source.html @@ -228,7 +228,7 @@
control::TrapezoidalVelocityProfile::reset
void reset()
Reset the profile and clear any calculated profile.
Definition TrapezoidalVelocityProfile.h:37
control::TrapezoidalVelocityProfile::hasTarget
bool hasTarget() const
Check if a profile has been calculated.
Definition TrapezoidalVelocityProfile.h:46
control::TrapezoidalVelocityProfile::setTarget
void setTarget(robot::types::datatime_t currTime, const std::array< double, dim > &startPos, const std::array< double, dim > &endPos)
Calculate a profile, assuming the mechanism begins and ends at rest.
Definition TrapezoidalVelocityProfile.h:57
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
diff --git a/JacobianVelController_8h_source.html b/JacobianVelController_8h_source.html index 7080ff0d..c6ca1f7b 100644 --- a/JacobianVelController_8h_source.html +++ b/JacobianVelController_8h_source.html @@ -228,7 +228,7 @@
JacobianVelController::setTarget
void setTarget(robot::types::datatime_t currTime, const navtypes::Vectord< outputDim > &targetVel)
Set the target velocity.
Definition JacobianVelController.h:114
JacobianVelController::hasTarget
bool hasTarget()
Check if a target velocity has been set.
Definition JacobianVelController.h:125
JacobianVelController::reset
void reset()
Reset the controller, unsetting the current command.
Definition JacobianVelController.h:132
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
util::durationToSec
double durationToSec(std::chrono::duration< Rep, Period > dur)
Convert a duration to seconds, as a double.
Definition time.h:18
diff --git a/ScopedTimer_8h_source.html b/ScopedTimer_8h_source.html index dea89266..d95fcc83 100644 --- a/ScopedTimer_8h_source.html +++ b/ScopedTimer_8h_source.html @@ -132,7 +132,7 @@
util::ScopedTimer
A utility class that helps with timing.
Definition ScopedTimer.h:14
util::ScopedTimer::ScopedTimer
ScopedTimer()
Create an unnamed scoped timer.
Definition ScopedTimer.cpp:10
util::ScopedTimer::elapsedTime
std::chrono::microseconds elapsedTime() const
Gets the elapsed time measured by this timer.
Definition ScopedTimer.cpp:20
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
diff --git a/SwerveController_8h_source.html b/SwerveController_8h_source.html index a739ede7..a32d1160 100644 --- a/SwerveController_8h_source.html +++ b/SwerveController_8h_source.html @@ -154,29 +154,31 @@
126
135 void setOverride(bool override);
136
-
142 DriveMode getDriveMode() const;
+
142 bool isOverridden() const;
143
-
150 swerve_rots_t setDriveMode(DriveMode mode);
-
151
-
160 bool checkWheelRotation(DriveMode mode, const swerve_rots_t& wheel_rots) const;
-
161
-
165 swerve_rots_t getSteerRots(DriveMode mode) const;
-
166
-
167private:
-
168 const kinematics::SwerveDriveKinematics swerve_kinematics;
-
169 const kinematics::DiffDriveKinematics crab_kinematics;
-
170 const double steer_epsilon;
-
171
-
175 DriveMode driveMode;
-
176
-
181 bool override_steer_check;
-
182};
+
149 DriveMode getDriveMode() const;
+
150
+
157 swerve_rots_t setDriveMode(DriveMode mode);
+
158
+
167 bool checkWheelRotation(DriveMode mode, const swerve_rots_t& wheel_rots) const;
+
168
+
172 swerve_rots_t getSteerRots(DriveMode mode) const;
+
173
+
174private:
+
175 const kinematics::SwerveDriveKinematics swerve_kinematics;
+
176 const kinematics::DiffDriveKinematics crab_kinematics;
+
177 const double steer_epsilon;
+
178
+
182 DriveMode driveMode;
+
183
+
188 bool override_steer_check;
+
189};
-
183} // namespace control
-
184
-
185namespace util {
-
186std::string to_string(control::DriveMode mode);
-
187} // namespace util
+
190} // namespace control
+
191
+
192namespace util {
+
193std::string to_string(control::DriveMode mode);
+
194} // namespace util
std::string
_GLIBCXX_END_NAMESPACE_CXX11 typedef basic_string< char > string
control::SwerveController
Controller to handle the wheel rotations for driving with swerve modes.
Definition SwerveController.h:56
@@ -187,11 +189,12 @@
control::SwerveController::getSteerRots
swerve_rots_t getSteerRots(DriveMode mode) const
Get the wheel steer rotations for a given drive mode in millidegrees.
Definition SwerveController.cpp:104
control::SwerveController::setDriveMode
swerve_rots_t setDriveMode(DriveMode mode)
Set the drive mode of the controller.
Definition SwerveController.cpp:132
control::SwerveController::setTurnInPlaceCmdVel
drive_commands_t setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t &wheel_rots) const
Request the robot to turn in place using swerve.
Definition SwerveController.cpp:13
+
control::SwerveController::isOverridden
bool isOverridden() const
Check the override flag for wheel rotation checking.
Definition SwerveController.cpp:141
control::SwerveController::getDriveMode
DriveMode getDriveMode() const
Get the current drive mode of the controller.
Definition SwerveController.cpp:128
control::SwerveController::setCrabCmdVel
drive_commands_t setCrabCmdVel(double dtheta, double dy, const swerve_rots_t &wheel_rots) const
Request the robot to drive side to side and turn with given velocities using swerve.
Definition SwerveController.cpp:53
kinematics::DiffDriveKinematics
Represents the kinematics of a differential drive.
Definition DiffDriveKinematics.h:14
kinematics::SwerveDriveKinematics
Calculates forward and inverse drivebase kinematics for a 4-wheel swerve drivebase with specifiable w...
Definition SwerveDriveKinematics.h:27
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
control::drive_commands_t
The power commands to all four drive motors.
Definition SwerveController.h:46
control::swerve_rots_t
Represents the rotations of all four steer motors in in millidegrees.
Definition SwerveController.h:36
diff --git a/base__motor_8h_source.html b/base__motor_8h_source.html index e0d8e88b..2de95120 100644 --- a/base__motor_8h_source.html +++ b/base__motor_8h_source.html @@ -151,7 +151,7 @@
robot::base_motor::constructVelController
void constructVelController()
Constructs a Jacobian Vel Controller.
Definition base_motor.cpp:45
robot::base_motor::setMotorPos
virtual void setMotorPos(int32_t targetPos)=0
Set the target position of the motor.
robot::base_motor::base_motor
base_motor(const base_motor &)=delete
Delete the copy constructor.
-
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:134
int32_t
::int32_t int32_t
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
diff --git a/can__motor_8h_source.html b/can__motor_8h_source.html index 8eadeb02..0f22e640 100644 --- a/can__motor_8h_source.html +++ b/can__motor_8h_source.html @@ -141,7 +141,7 @@
robot::can_motor::setMotorVel
void setMotorVel(int32_t targetVel) override
Sets the velocity of the motor.
Definition can_motor.cpp:34
robot::can_motor::setMotorPos
void setMotorPos(int32_t targetPos) override
Set the target position of the motor.
Definition can_motor.cpp:21
robot::can_motor::can_motor
can_motor(robot::types::motorid_t motor, bool hasPosSensor, can::deviceserial_t serial, double pos_pwm_scale, double neg_pwm_scale)
Constructor for can motor.
Definition can_motor.cpp:4
-
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:134
can::motor::motormode_t
motormode_t
The possible motor modes.
Definition CANMotor.h:19
can::deviceserial_t
uint8_t deviceserial_t
The type of the device serial number.
Definition CANUtils.h:64
int32_t
::int32_t int32_t
diff --git a/classcontrol_1_1SwerveController-members.html b/classcontrol_1_1SwerveController-members.html index 54663f07..7d724876 100644 --- a/classcontrol_1_1SwerveController-members.html +++ b/classcontrol_1_1SwerveController-members.html @@ -105,14 +105,15 @@ checkWheelRotation(DriveMode mode, const swerve_rots_t &wheel_rots) constcontrol::SwerveController getDriveMode() constcontrol::SwerveController getSteerRots(DriveMode mode) constcontrol::SwerveController - setCrabCmdVel(double dtheta, double dy, const swerve_rots_t &wheel_rots) constcontrol::SwerveController - setCrabCmdVel(double dtheta, double dy, const swerve_rots_t &wheel_rots, double &scaleFactor) constcontrol::SwerveController - setDriveMode(DriveMode mode)control::SwerveController - setOverride(bool override)control::SwerveController - setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t &wheel_rots) constcontrol::SwerveController - setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t &wheel_rots, double &scaleFactor) constcontrol::SwerveController - SwerveController(double baseWidth, double baseLength, int epsilon)control::SwerveController - swerveKinematics() constcontrol::SwerveController + isOverridden() constcontrol::SwerveController + setCrabCmdVel(double dtheta, double dy, const swerve_rots_t &wheel_rots) constcontrol::SwerveController + setCrabCmdVel(double dtheta, double dy, const swerve_rots_t &wheel_rots, double &scaleFactor) constcontrol::SwerveController + setDriveMode(DriveMode mode)control::SwerveController + setOverride(bool override)control::SwerveController + setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t &wheel_rots) constcontrol::SwerveController + setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t &wheel_rots, double &scaleFactor) constcontrol::SwerveController + SwerveController(double baseWidth, double baseLength, int epsilon)control::SwerveController + swerveKinematics() constcontrol::SwerveController
diff --git a/classcontrol_1_1SwerveController.html b/classcontrol_1_1SwerveController.html index 40b476d1..fd6c0b31 100644 --- a/classcontrol_1_1SwerveController.html +++ b/classcontrol_1_1SwerveController.html @@ -131,6 +131,9 @@ void setOverride (bool override)  Set the override flag for wheel rotation checking.
  +bool isOverridden () const + Check the override flag for wheel rotation checking.
+  DriveMode getDriveMode () const  Get the current drive mode of the controller.
  @@ -234,6 +237,26 @@

Returns
DriveMode The current drive mode.
+ + + +

◆ isOverridden()

+ +
+
+ + + + + + + +
bool SwerveController::isOverridden () const
+
+ +

Check the override flag for wheel rotation checking.

+
Returns
True iff the rotation checking is overridden.
+
diff --git a/control__interface_8h_source.html b/control__interface_8h_source.html index fa612035..8cec406a 100644 --- a/control__interface_8h_source.html +++ b/control__interface_8h_source.html @@ -121,11 +121,11 @@
53} // namespace robot
int32_t
::int32_t int32_t
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
-
robot::getJointPos
types::DataPoint< int32_t > getJointPos(robot::types::jointid_t joint)
Definition control_interface.cpp:150
-
robot::setTankCmdVel
double setTankCmdVel(double left, double right)
Request the robot to drive in tank style, where each side is controlled individually.
Definition control_interface.cpp:73
-
robot::setJointPos
void setJointPos(robot::types::jointid_t joint, int32_t targetPos)
Set the position of the specified joint.
Definition control_interface.cpp:120
+
robot::getJointPos
types::DataPoint< int32_t > getJointPos(robot::types::jointid_t joint)
Definition control_interface.cpp:134
+
robot::setTankCmdVel
double setTankCmdVel(double left, double right)
Request the robot to drive in tank style, where each side is controlled individually.
Definition control_interface.cpp:77
+
robot::setJointPos
void setJointPos(robot::types::jointid_t joint, int32_t targetPos)
Set the position of the specified joint.
Definition control_interface.cpp:124
robot::setCmdVel
double setCmdVel(double dtheta, double dx)
Request the robot to drive at the given velocities.
Definition control_interface.cpp:38
-
robot::setJointPower
void setJointPower(robot::types::jointid_t joint, double power)
Set the power of the specified joint.
Definition control_interface.cpp:108
+
robot::setJointPower
void setJointPower(robot::types::jointid_t joint, double power)
Set the power of the specified joint.
Definition control_interface.cpp:112
diff --git a/core_8h_source.html b/core_8h_source.html index 6e2a22eb..a3652a44 100644 --- a/core_8h_source.html +++ b/core_8h_source.html @@ -183,7 +183,7 @@
util::RAIIHelper
A helper class for executing a function when leaving a scope, in RAII-style.
Definition core.h:85
util::RAIIHelper::RAIIHelper
RAIIHelper(const std::function< void()> &f)
Construct a new RAIIHelper.
Definition core.cpp:18
util::RAIIHelper::~RAIIHelper
~RAIIHelper()
Destroy the RAIIHelper object, executing the given function, if not empty.
Definition core.cpp:24
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
util::freezeStr
frozen::string freezeStr(const std::string &str)
Convert the given std::string to a frozen::string.
Definition core.cpp:14
util::almostEqual
bool almostEqual(double a, double b, double threshold)
Check if two numbers are approximately equal.
Definition core.cpp:5
util::to_string< bool >
std::string to_string< bool >(const bool &val)
Converts a boolean to a string.
Definition core.cpp:10
diff --git a/data_8h_source.html b/data_8h_source.html index 4dbb606b..be361b50 100644 --- a/data_8h_source.html +++ b/data_8h_source.html @@ -156,163 +156,166 @@
67 shoulder,
68 elbow,
69 forearm,
-
70 wrist,
-
71 hand,
-
72 activeSuspension
-
73};
+
70 wristDiffRight,
+
71 wristDiffLeft,
+
72 hand,
+
73 activeSuspension
+
74};
-
74
-
-
76enum class mountedperipheral_t {
-
77 none,
-
78 arm,
-
79 armServo,
-
80 scienceStation,
-
81 lidar
-
82};
+
75
+
+
77enum class mountedperipheral_t {
+
78 none,
+
79 arm,
+
80 armServo,
+
81 scienceStation,
+
82 lidar
+
83};
-
83
-
84enum class jointid_t {
-
85 frontLeftSwerve,
-
86 frontRightSwerve,
-
87 rearLeftSwerve,
-
88 rearRightSwerve,
-
89 armBase,
-
90 shoulder,
-
91 elbow,
-
92 forearm,
-
93 wrist,
-
94 hand,
-
95 activeSuspension,
-
96 ikForward,
-
97 ikUp
-
98};
-
99
-
100constexpr auto all_jointid_t = frozen::make_unordered_set<jointid_t>(
-
101 {jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
-
102 jointid_t::wrist, jointid_t::hand, jointid_t::activeSuspension, jointid_t::ikForward,
-
103 jointid_t::ikUp});
-
104
-
105constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, jointid_t>(
-
106 {{"frontLeftSwerve", jointid_t::frontLeftSwerve},
-
107 {"frontRightSwerve", jointid_t::frontRightSwerve},
-
108 {"rearLeftSwerve", jointid_t::rearLeftSwerve},
-
109 {"rearRightSwerve", jointid_t::rearRightSwerve},
-
110 {"armBase", jointid_t::armBase},
-
111 {"shoulder", jointid_t::shoulder},
-
112 {"elbow", jointid_t::elbow},
-
113 {"forearm", jointid_t::forearm},
-
114 {"wrist", jointid_t::wrist},
-
115 {"hand", jointid_t::hand},
-
116 {"activeSuspension", jointid_t::activeSuspension},
-
117 {"ikForward", jointid_t::ikForward},
-
118 {"ikUp", jointid_t::ikUp}});
-
119
-
-
120class bad_datapoint_access : public std::runtime_error {
-
121public:
-
122 bad_datapoint_access() : std::runtime_error("bad_datapoint_access") {}
-
123};
+
84
+
85enum class jointid_t {
+
86 frontLeftSwerve,
+
87 frontRightSwerve,
+
88 rearLeftSwerve,
+
89 rearRightSwerve,
+
90 armBase,
+
91 shoulder,
+
92 elbow,
+
93 forearm,
+
94 wristPitch,
+
95 wristRoll,
+
96 hand,
+
97 activeSuspension,
+
98 ikForward,
+
99 ikUp
+
100};
+
101
+
102constexpr auto all_jointid_t = frozen::make_unordered_set<jointid_t>(
+
103 {jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
+
104 jointid_t::wristRoll, jointid_t::wristPitch, jointid_t::hand, jointid_t::activeSuspension,
+
105 jointid_t::ikForward, jointid_t::ikUp});
+
106
+
107constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, jointid_t>(
+
108 {{"frontLeftSwerve", jointid_t::frontLeftSwerve},
+
109 {"frontRightSwerve", jointid_t::frontRightSwerve},
+
110 {"rearLeftSwerve", jointid_t::rearLeftSwerve},
+
111 {"rearRightSwerve", jointid_t::rearRightSwerve},
+
112 {"armBase", jointid_t::armBase},
+
113 {"shoulder", jointid_t::shoulder},
+
114 {"elbow", jointid_t::elbow},
+
115 {"forearm", jointid_t::forearm},
+
116 {"wristPitch", jointid_t::wristPitch},
+
117 {"wristRoll", jointid_t::wristRoll},
+
118 {"hand", jointid_t::hand},
+
119 {"activeSuspension", jointid_t::activeSuspension},
+
120 {"ikForward", jointid_t::ikForward},
+
121 {"ikUp", jointid_t::ikUp}});
+
122
+
+
123class bad_datapoint_access : public std::runtime_error {
+
124public:
+
125 bad_datapoint_access() : std::runtime_error("bad_datapoint_access") {}
+
126};
-
124
-
130template <typename T>
-
-
131class DataPoint {
-
132public:
-
136 DataPoint() : datapoint() {}
-
137
-
143 DataPoint(T data) : DataPoint(dataclock::now(), data) {}
-
144
-
151 DataPoint(datatime_t time, T data) : datapoint({time, data}) {}
-
152
-
-
158 operator bool() const {
-
159 return isValid();
-
160 }
+
127
+
133template <typename T>
+
+
134class DataPoint {
+
135public:
+
139 DataPoint() : datapoint() {}
+
140
+
146 DataPoint(T data) : DataPoint(dataclock::now(), data) {}
+
147
+
154 DataPoint(datatime_t time, T data) : datapoint({time, data}) {}
+
155
+
+
161 operator bool() const {
+
162 return isValid();
+
163 }
-
161
-
-
169 bool isFresh(std::chrono::milliseconds duration) const {
-
170 return isValid() && dataclock::now() - duration <= getTime();
-
171 }
+
164
+
+
172 bool isFresh(std::chrono::milliseconds duration) const {
+
173 return isValid() && dataclock::now() - duration <= getTime();
+
174 }
-
172
-
-
178 bool isValid() const {
-
179 return datapoint.has_value();
-
180 }
+
175
+
+
181 bool isValid() const {
+
182 return datapoint.has_value();
+
183 }
-
181
-
-
188 datatime_t getTime() const {
-
189 return datapoint.value().first;
-
190 }
+
184
+
+
191 datatime_t getTime() const {
+
192 return datapoint.value().first;
+
193 }
-
191
-
-
198 T getData() const {
-
199 if (isValid()) {
-
200 return datapoint.value().second;
-
201 } else {
-
202 throw bad_datapoint_access();
-
203 }
-
204 }
+
194
+
+
201 T getData() const {
+
202 if (isValid()) {
+
203 return datapoint.value().second;
+
204 } else {
+
205 throw bad_datapoint_access();
+
206 }
+
207 }
-
205
-
-
213 T getDataOrElse(T defaultData) {
-
214 return isValid() ? getData() : defaultData;
-
215 }
+
208
+
+
216 T getDataOrElse(T defaultData) {
+
217 return isValid() ? getData() : defaultData;
+
218 }
-
216
-
226 template <typename F>
-
-
227 DataPoint<std::invoke_result_t<F, T>> transform(const F& f) {
-
228 if (isValid()) {
-
229 return DataPoint<std::invoke_result_t<F, T>>(getTime(), f(getData()));
-
230 } else {
-
231 return {};
-
232 }
-
233 }
+
219
+
229 template <typename F>
+
+
230 DataPoint<std::invoke_result_t<F, T>> transform(const F& f) {
+
231 if (isValid()) {
+
232 return DataPoint<std::invoke_result_t<F, T>>(getTime(), f(getData()));
+
233 } else {
+
234 return {};
+
235 }
+
236 }
-
234
-
235private:
-
239 std::optional<std::pair<datatime_t, T>> datapoint;
-
240};
+
237
+
238private:
+
242 std::optional<std::pair<datatime_t, T>> datapoint;
+
243};
-
241
-
245constexpr size_t N_LIMIT_SWITCH = 8;
-
246
-
247constexpr int LIMIT_SWITCH_LIM_MIN_IDX = 0;
-
248constexpr int LIMIT_SWITCH_LIM_MAX_IDX = 1;
+
244
+
248constexpr size_t N_LIMIT_SWITCH = 8;
249
-
-
253class LimitSwitchData {
-
254public:
-
263 LimitSwitchData(unsigned long long data);
-
264
-
273 bool isOpen(size_t idx);
-
274
-
283 bool isClosed(size_t idx);
-
284
-
290 bool isAnyOpen();
-
291
-
297 bool isAnyClosed();
-
298
-
308 std::bitset<N_LIMIT_SWITCH> diff(const LimitSwitchData& other);
-
309
-
310private:
-
311 std::bitset<N_LIMIT_SWITCH> data;
-
312};
+
250constexpr int LIMIT_SWITCH_LIM_MIN_IDX = 0;
+
251constexpr int LIMIT_SWITCH_LIM_MAX_IDX = 1;
+
252
+
+
256class LimitSwitchData {
+
257public:
+
266 LimitSwitchData(unsigned long long data);
+
267
+
276 bool isOpen(size_t idx);
+
277
+
286 bool isClosed(size_t idx);
+
287
+
293 bool isAnyOpen();
+
294
+
300 bool isAnyClosed();
+
301
+
311 std::bitset<N_LIMIT_SWITCH> diff(const LimitSwitchData& other);
+
312
+
313private:
+
314 std::bitset<N_LIMIT_SWITCH> data;
+
315};
-
313
-
314} // namespace robot::types
-
315
-
316namespace util {
-
317std::string to_string(robot::types::jointid_t joint);
-
318std::string to_string(const robot::types::CameraID& id);
-
319std::string to_string(robot::types::mountedperipheral_t peripheral);
-
320} // namespace util
+
316
+
317} // namespace robot::types
+
318
+
319namespace util {
+
320std::string to_string(robot::types::jointid_t joint);
+
321std::string to_string(const robot::types::CameraID& id);
+
322std::string to_string(robot::types::mountedperipheral_t peripheral);
+
323} // namespace util
@@ -326,34 +329,34 @@ -
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
-
robot::types::DataPoint::isFresh
bool isFresh(std::chrono::milliseconds duration) const
Check if this measurement was taken recently.
Definition data.h:169
-
robot::types::DataPoint::DataPoint
DataPoint(T data)
Construct a new DataPoint object, measured now.
Definition data.h:143
-
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:198
-
robot::types::DataPoint::DataPoint
DataPoint(datatime_t time, T data)
Construct a new DataPoint object, measured at the given time.
Definition data.h:151
-
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:188
-
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:178
-
robot::types::DataPoint::DataPoint
DataPoint()
Construct an invalid DataPoint, holding no data.
Definition data.h:136
-
robot::types::DataPoint::transform
DataPoint< std::invoke_result_t< F, T > > transform(const F &f)
Transforms the data in this datapoint by the given function.
Definition data.h:227
-
robot::types::DataPoint::getDataOrElse
T getDataOrElse(T defaultData)
Get the value of this data point, defaulting to a given value if this data point is invalid.
Definition data.h:213
-
robot::types::LimitSwitchData
A class that represents limit switches from a specific motor.
Definition data.h:253
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:134
+
robot::types::DataPoint::isFresh
bool isFresh(std::chrono::milliseconds duration) const
Check if this measurement was taken recently.
Definition data.h:172
+
robot::types::DataPoint::DataPoint
DataPoint(T data)
Construct a new DataPoint object, measured now.
Definition data.h:146
+
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:201
+
robot::types::DataPoint::DataPoint
DataPoint(datatime_t time, T data)
Construct a new DataPoint object, measured at the given time.
Definition data.h:154
+
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:191
+
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:181
+
robot::types::DataPoint::DataPoint
DataPoint()
Construct an invalid DataPoint, holding no data.
Definition data.h:139
+
robot::types::DataPoint::transform
DataPoint< std::invoke_result_t< F, T > > transform(const F &f)
Transforms the data in this datapoint by the given function.
Definition data.h:230
+
robot::types::DataPoint::getDataOrElse
T getDataOrElse(T defaultData)
Get the value of this data point, defaulting to a given value if this data point is invalid.
Definition data.h:216
+
robot::types::LimitSwitchData
A class that represents limit switches from a specific motor.
Definition data.h:256
robot::types::LimitSwitchData::diff
std::bitset< N_LIMIT_SWITCH > diff(const LimitSwitchData &other)
Check which indices differ between this data and other.
Definition data.cpp:23
robot::types::LimitSwitchData::LimitSwitchData
LimitSwitchData(unsigned long long data)
Construct a new LimitSwitchData object, from the given bits.
Definition data.cpp:5
robot::types::LimitSwitchData::isAnyClosed
bool isAnyClosed()
Check if any index is closed.
Definition data.cpp:15
robot::types::LimitSwitchData::isAnyOpen
bool isAnyOpen()
Check if any index is open.
Definition data.cpp:19
robot::types::LimitSwitchData::isClosed
bool isClosed(size_t idx)
Check if the given index is closed.
Definition data.cpp:11
robot::types::LimitSwitchData::isOpen
bool isOpen(size_t idx)
Check if the given index is open.
Definition data.cpp:7
-
robot::types::bad_datapoint_access
Definition data.h:120
+
robot::types::bad_datapoint_access
Definition data.h:123
none
none
robot::types
Types for use in the world interface.
Definition data.cpp:3
robot::types::indication_t
indication_t
An indication enum, used to command the LED to flash different signals.
Definition data.h:49
robot::types::CameraID
std::string CameraID
The type of a camera id.
Definition data.h:46
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
-
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:76
+
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:77
robot::types::dataclock
std::chrono::steady_clock dataclock
The clock used for time measurements for data.
Definition data.h:29
-
robot::types::N_LIMIT_SWITCH
constexpr size_t N_LIMIT_SWITCH
The maximum number of limit switches associated with any motor.
Definition data.h:245
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
robot::types::N_LIMIT_SWITCH
constexpr size_t N_LIMIT_SWITCH
The maximum number of limit switches associated with any motor.
Definition data.h:248
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
diff --git a/doc_8h_source.html b/doc_8h_source.html index 181fc00b..44d4a551 100644 --- a/doc_8h_source.html +++ b/doc_8h_source.html @@ -104,7 +104,7 @@
3// This file only exists for the doxygen namespace comment.
4
9namespace util {};
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
diff --git a/doxygen_crawl.html b/doxygen_crawl.html index 4130ead7..a3fe9908 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -576,6 +576,7 @@ + @@ -1039,8 +1040,8 @@ - + @@ -1048,6 +1049,7 @@ + diff --git a/functions_func_i.html b/functions_func_i.html index 01532a45..7a465dea 100644 --- a/functions_func_i.html +++ b/functions_func_i.html @@ -105,6 +105,7 @@

- i -

  • isFresh() : robot::types::DataPoint< T >
  • isIDMapped() : AR::MarkerSet
  • isOpen() : cam::Camera, robot::types::LimitSwitchData
    • +
  • isOverridden() : control::SwerveController
  • isRunning() : util::AsyncTask< Clock >
  • isRunningInternal() : util::AsyncTask< Clock >
  • isValid() : robot::types::DataPoint< T >
    • diff --git a/functions_i.html b/functions_i.html index 8b374005..ed680efc 100644 --- a/functions_i.html +++ b/functions_i.html @@ -107,6 +107,7 @@

    - i -

    • isIDMapped() : AR::MarkerSet
    • isInverted : robot::encparams_t
    • isOpen() : cam::Camera, robot::types::LimitSwitchData
      • +
    • isOverridden() : control::SwerveController
    • isRunning() : util::AsyncTask< Clock >
    • isRunningInternal() : util::AsyncTask< Clock >
    • isValid() : robot::types::DataPoint< T >
      • diff --git a/json_8h_source.html b/json_8h_source.html index b6ce568d..92f89e24 100644 --- a/json_8h_source.html +++ b/json_8h_source.html @@ -127,7 +127,7 @@
      min
      static softfloat min()
      max
      static softfloat max()
      nlohmann::json
      basic_json<> json
      -
      util
      A collection of utility functions and classes with common use-cases.
      Definition SwerveController.cpp:141
      +
      util
      A collection of utility functions and classes with common use-cases.
      Definition SwerveController.cpp:145
      util::validateOneOf
      bool validateOneOf(const json &j, const std::string &key, const std::unordered_set< std::string > &vals)
      Check if the value in the given json object at the given key is a string in the given set of allowed ...
      Definition json.cpp:18
      util::validateRange
      bool validateRange(const json &j, const std::string &key, double min, double max)
      Check if the value in the given json object at the given key is a floating-point number between min a...
      Definition json.cpp:25
      util::hasKey
      bool hasKey(const json &j, const std::string &key)
      Check if the given json object has the given key.
      Definition json.cpp:5
      diff --git a/math_8h_source.html b/math_8h_source.html index 6406c026..c4ce1a2e 100644 --- a/math_8h_source.html +++ b/math_8h_source.html @@ -112,7 +112,7 @@
      23 const Eigen::VectorXd& x, int outputDim);
      24
      25} // namespace util
      -
      util
      A collection of utility functions and classes with common use-cases.
      Definition SwerveController.cpp:141
      +
      util
      A collection of utility functions and classes with common use-cases.
      Definition SwerveController.cpp:145
      util::numericalJacobian
      Eigen::MatrixXd numericalJacobian(const std::function< Eigen::VectorXd(const Eigen::VectorXd &)> &func, const Eigen::VectorXd &x, int outputDim)
      Estimate the jacobian of a multivariate function using finite differences.
      Definition math.cpp:6
      util::epsilon
      constexpr double epsilon
      A small positive value, near zero.
      Definition math.h:10
diff --git a/namespacerobot.html b/namespacerobot.html index 8b5d537c..5d41ef81 100644 --- a/namespacerobot.html +++ b/namespacerobot.html @@ -180,9 +180,6 @@ const DiffDriveKinematics & driveKinematics ()   - -const DiffWristKinematics & wristKinematics () -  void world_interface_init (std::optional< std::reference_wrapper< net::websocket::SingleClientWSServer > > wsServer, bool initOnlyMotors=false)  Initialize the world interface.
  @@ -1059,13 +1056,7 @@

.ppjr = 4590 * 1024 * 4,

.limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).first,
.limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).second,
-
.zeroCalibrationPower = 0.4}},
-
{motorid_t::elbow,
-
{.isInverted = false,
-
.ppjr = 1620 * 1024 * 4,
-
.limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::elbow).first,
-
.limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::elbow).second,
-
.zeroCalibrationPower = -0.15}}
+
.zeroCalibrationPower = 0.4}}
})
at
T & at(int idx, std::vector< T > &items)
@@ -1092,7 +1083,6 @@

Initial value:
= frozen::make_unordered_map<motorid_t, pidcoef_t>(
{{motorid_t::shoulder, {70, 0, 0}},
-
{motorid_t::elbow, {15, 7, -2}},
{motorid_t::frontLeftSwerve, {2, 0, 0}},
{motorid_t::frontRightSwerve, {2, 0, 0}},
{motorid_t::rearLeftSwerve, {2, 0, 0}},
@@ -1134,7 +1124,8 @@

{motorid_t::shoulder, DEVICE_SERIAL_MOTOR_SHOULDER},

{motorid_t::elbow, DEVICE_SERIAL_MOTOR_ELBOW},
{motorid_t::forearm, DEVICE_SERIAL_MOTOR_FOREARM},
-
{motorid_t::wrist, DEVICE_SERIAL_MOTOR_WRIST},
+
{motorid_t::wristDiffLeft, DEVICE_SERIAL_MOTOR_WRIST_DIFF_LEFT},
+
{motorid_t::wristDiffRight, DEVICE_SERIAL_MOTOR_WRIST_DIFF_RIGHT},
{motorid_t::hand, DEVICE_SERIAL_MOTOR_HAND},
{motorid_t::activeSuspension, DEVICE_SERIAL_LINEAR_ACTUATOR}})

@@ -1162,15 +1153,16 @@

Initial value:
=
-
frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.75},
-
{motorid_t::shoulder, 1},
-
{motorid_t::elbow, 1},
-
{motorid_t::forearm, -0.65},
-
{motorid_t::wrist, 0.1},
+
frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
+
{motorid_t::shoulder, -1},
+
{motorid_t::elbow, -1},
+
{motorid_t::forearm, -0.2},
+
{motorid_t::wristDiffLeft, -0.1},
+
{motorid_t::wristDiffRight, 0.1},
{motorid_t::frontLeftWheel, 0.7},
{motorid_t::frontRightWheel, 0.7},
{motorid_t::rearLeftWheel, 0.7},
-
{motorid_t::rearRightWheel, -0.7},
+
{motorid_t::rearRightWheel, 0.7},
{motorid_t::frontLeftSwerve, 1.0},
{motorid_t::frontRightSwerve, 1.0},
{motorid_t::rearLeftSwerve, 1.0},
@@ -1203,15 +1195,16 @@

Initial value:
=
-
frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.75},
-
{motorid_t::shoulder, 1},
-
{motorid_t::elbow, 1},
-
{motorid_t::forearm, -0.65},
-
{motorid_t::wrist, 0.1},
+
frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
+
{motorid_t::shoulder, -1},
+
{motorid_t::elbow, -1},
+
{motorid_t::forearm, -0.2},
+
{motorid_t::wristDiffLeft, -0.1},
+
{motorid_t::wristDiffRight, 0.1},
{motorid_t::frontLeftWheel, 0.7},
{motorid_t::frontRightWheel, 0.7},
{motorid_t::rearLeftWheel, 0.7},
-
{motorid_t::rearRightWheel, -0.7},
+
{motorid_t::rearRightWheel, 0.7},
{motorid_t::frontLeftSwerve, 1.0},
{motorid_t::frontRightSwerve, 1.0},
{motorid_t::rearLeftSwerve, 1.0},
@@ -1244,14 +1237,12 @@

Initial value:
= frozen::make_unordered_map<motorid_t, potparams_t>({
-
{motorid_t::armBase,
-
{.adc_lo = 123, .mdeg_lo = -200 * 1000, .adc_hi = 456, .mdeg_hi = 200 * 1000}},
{motorid_t::forearm,
{.adc_lo = 1208, .mdeg_lo = -180 * 1000, .adc_hi = 841, .mdeg_hi = 180 * 1000}},
-
{motorid_t::wrist,
-
{.adc_lo = 123, .mdeg_lo = -100 * 1000, .adc_hi = 456, .mdeg_hi = 100 * 1000}},
-
{motorid_t::activeSuspension,
-
{.adc_lo = 251, .mdeg_lo = -19 * 1000, .adc_hi = 1645, .mdeg_hi = 31 * 1000}},
+
{motorid_t::wristDiffLeft,
+
{.adc_lo = 0, .mdeg_lo = -100 * 0, .adc_hi = 0, .mdeg_hi = 100 * 0}},
+
{motorid_t::wristDiffRight,
+
{.adc_lo = 0, .mdeg_lo = -100 * 0, .adc_hi = 0, .mdeg_hi = 100 * 0}},
{motorid_t::frontLeftSwerve,
{.adc_lo = 1422, .mdeg_lo = -180 * 1000, .adc_hi = 656, .mdeg_hi = 180 * 1000}},
{motorid_t::frontRightSwerve,
diff --git a/namespacerobot_1_1types.html b/namespacerobot_1_1types.html index 36ade1de..d6642d8a 100644 --- a/namespacerobot_1_1types.html +++ b/namespacerobot_1_1types.html @@ -166,7 +166,8 @@ , elbow , forearm ,
-  wrist +  wristDiffRight +, wristDiffLeft , hand , activeSuspension
@@ -195,12 +196,13 @@ , elbow , forearm ,
-  wrist +  wristPitch +, wristRoll , hand , activeSuspension -, ikForward ,
-  ikUp +  ikForward +, ikUp
}   @@ -264,8 +266,8 @@

Initial value:
= frozen::make_unordered_set<jointid_t>(
{jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
-
jointid_t::wrist, jointid_t::hand, jointid_t::activeSuspension, jointid_t::ikForward,
-
jointid_t::ikUp})
+
jointid_t::wristRoll, jointid_t::wristPitch, jointid_t::hand, jointid_t::activeSuspension,
+
jointid_t::ikForward, jointid_t::ikUp})

@@ -297,7 +299,8 @@

{"shoulder", jointid_t::shoulder},

{"elbow", jointid_t::elbow},
{"forearm", jointid_t::forearm},
-
{"wrist", jointid_t::wrist},
+
{"wristPitch", jointid_t::wristPitch},
+
{"wristRoll", jointid_t::wristRoll},
{"hand", jointid_t::hand},
{"activeSuspension", jointid_t::activeSuspension},
{"ikForward", jointid_t::ikForward},
diff --git a/random_8h_source.html b/random_8h_source.html index 01d67a0e..66b4e9c8 100644 --- a/random_8h_source.html +++ b/random_8h_source.html @@ -108,7 +108,7 @@
22long getNormalSeed();
23
24} // namespace util
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
util::stdn
double stdn(int thread_id)
Sample from the standard normal distribution.
Definition random.cpp:24
util::getNormalSeed
long getNormalSeed()
Get the random seed used for util::stdn().
Definition random.cpp:20

diff --git a/real__world__constants_8h_source.html b/real__world__constants_8h_source.html index 99979197..bc68ab9c 100644 --- a/real__world__constants_8h_source.html +++ b/real__world__constants_8h_source.html @@ -152,95 +152,89 @@
63 .ppjr = 4590 * 1024 * 4,
64 .limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).first,
65 .limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).second,
-
66 .zeroCalibrationPower = 0.4}},
-
67 {motorid_t::elbow,
-
68 {.isInverted = false,
-
69 .ppjr = 1620 * 1024 * 4,
-
70 .limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::elbow).first,
-
71 .limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::elbow).second,
-
72 .zeroCalibrationPower = -0.15}}
-
73});
-
74// clang-format on
-
75
-
76// TODO: find appropriate bounds
-
77constexpr auto potMotors = frozen::make_unordered_map<motorid_t, potparams_t>({
-
78 {motorid_t::armBase,
-
79 {.adc_lo = 123, .mdeg_lo = -200 * 1000, .adc_hi = 456, .mdeg_hi = 200 * 1000}},
-
80 {motorid_t::forearm,
-
81 {.adc_lo = 1208, .mdeg_lo = -180 * 1000, .adc_hi = 841, .mdeg_hi = 180 * 1000}},
-
82 {motorid_t::wrist,
-
83 {.adc_lo = 123, .mdeg_lo = -100 * 1000, .adc_hi = 456, .mdeg_hi = 100 * 1000}},
-
84 {motorid_t::activeSuspension,
-
85 {.adc_lo = 251, .mdeg_lo = -19 * 1000, .adc_hi = 1645, .mdeg_hi = 31 * 1000}},
-
86 {motorid_t::frontLeftSwerve,
-
87 {.adc_lo = 1422, .mdeg_lo = -180 * 1000, .adc_hi = 656, .mdeg_hi = 180 * 1000}},
-
88 {motorid_t::frontRightSwerve,
-
89 {.adc_lo = 644, .mdeg_lo = -180 * 1000, .adc_hi = 1404, .mdeg_hi = 180 * 1000}},
-
90 {motorid_t::rearLeftSwerve,
-
91 {.adc_lo = 1260, .mdeg_lo = -180 * 1000, .adc_hi = 476, .mdeg_hi = 180 * 1000}},
-
92 {motorid_t::rearRightSwerve,
-
93 {.adc_lo = 1538, .mdeg_lo = -180 * 1000, .adc_hi = 767, .mdeg_hi = 180 * 1000}},
-
94});
-
95
-
97constexpr auto motorSerialIDMap = frozen::make_unordered_map<motorid_t, can::deviceserial_t>(
-
98 {{motorid_t::frontLeftWheel, DEVICE_SERIAL_MOTOR_CHASSIS_FL},
-
99 {motorid_t::frontRightWheel, DEVICE_SERIAL_MOTOR_CHASSIS_FR},
-
100 {motorid_t::rearLeftWheel, DEVICE_SERIAL_MOTOR_CHASSIS_BL},
-
101 {motorid_t::rearRightWheel, DEVICE_SERIAL_MOTOR_CHASSIS_BR},
-
102 {motorid_t::frontLeftSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_FL_SW},
-
103 {motorid_t::frontRightSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_FR_SW},
-
104 {motorid_t::rearLeftSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_BL_SW},
-
105 {motorid_t::rearRightSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_BR_SW},
-
106 {motorid_t::armBase, DEVICE_SERIAL_MOTOR_BASE},
-
107 {motorid_t::shoulder, DEVICE_SERIAL_MOTOR_SHOULDER},
-
108 {motorid_t::elbow, DEVICE_SERIAL_MOTOR_ELBOW},
-
109 {motorid_t::forearm, DEVICE_SERIAL_MOTOR_FOREARM},
-
110 {motorid_t::wrist, DEVICE_SERIAL_MOTOR_WRIST},
-
111 {motorid_t::hand, DEVICE_SERIAL_MOTOR_HAND},
-
112 {motorid_t::activeSuspension, DEVICE_SERIAL_LINEAR_ACTUATOR}});
-
113
-
115constexpr auto motorPIDMap = frozen::make_unordered_map<motorid_t, pidcoef_t>(
-
116 {{motorid_t::shoulder, {70, 0, 0}},
-
117 {motorid_t::elbow, {15, 7, -2}},
-
118 {motorid_t::frontLeftSwerve, {2, 0, 0}},
-
119 {motorid_t::frontRightSwerve, {2, 0, 0}},
-
120 {motorid_t::rearLeftSwerve, {2, 0, 0}},
-
121 {motorid_t::rearRightSwerve, {2, 0, 0}}});
-
122
-
127constexpr auto positive_pwm_scales =
-
128 frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.75},
-
129 {motorid_t::shoulder, 1},
-
130 {motorid_t::elbow, 1},
-
131 {motorid_t::forearm, -0.65},
-
132 {motorid_t::wrist, 0.1},
-
133 {motorid_t::frontLeftWheel, 0.7},
-
134 {motorid_t::frontRightWheel, 0.7},
-
135 {motorid_t::rearLeftWheel, 0.7},
-
136 {motorid_t::rearRightWheel, -0.7},
-
137 {motorid_t::frontLeftSwerve, 1.0},
-
138 {motorid_t::frontRightSwerve, 1.0},
-
139 {motorid_t::rearLeftSwerve, 1.0},
-
140 {motorid_t::rearRightSwerve, 1.0},
-
141 {motorid_t::hand, -0.75},
-
142 {motorid_t::activeSuspension, -0.5}});
-
147constexpr auto negative_pwm_scales =
-
148 frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.75},
-
149 {motorid_t::shoulder, 1},
-
150 {motorid_t::elbow, 1},
-
151 {motorid_t::forearm, -0.65},
-
152 {motorid_t::wrist, 0.1},
-
153 {motorid_t::frontLeftWheel, 0.7},
-
154 {motorid_t::frontRightWheel, 0.7},
-
155 {motorid_t::rearLeftWheel, 0.7},
-
156 {motorid_t::rearRightWheel, -0.7},
-
157 {motorid_t::frontLeftSwerve, 1.0},
-
158 {motorid_t::frontRightSwerve, 1.0},
-
159 {motorid_t::rearLeftSwerve, 1.0},
-
160 {motorid_t::rearRightSwerve, 1.0},
-
161 {motorid_t::hand, -0.75},
-
162 {motorid_t::activeSuspension, -0.5}});
-
163
-
164} // namespace robot
+
66 .zeroCalibrationPower = 0.4}}
+
67});
+
68// clang-format on
+
69
+
70// TODO: find appropriate bounds
+
71constexpr auto potMotors = frozen::make_unordered_map<motorid_t, potparams_t>({
+
72 {motorid_t::forearm,
+
73 {.adc_lo = 1208, .mdeg_lo = -180 * 1000, .adc_hi = 841, .mdeg_hi = 180 * 1000}},
+
74 {motorid_t::wristDiffLeft,
+
75 {.adc_lo = 0, .mdeg_lo = -100 * 0, .adc_hi = 0, .mdeg_hi = 100 * 0}},
+
76 {motorid_t::wristDiffRight,
+
77 {.adc_lo = 0, .mdeg_lo = -100 * 0, .adc_hi = 0, .mdeg_hi = 100 * 0}},
+
78 {motorid_t::frontLeftSwerve,
+
79 {.adc_lo = 1422, .mdeg_lo = -180 * 1000, .adc_hi = 656, .mdeg_hi = 180 * 1000}},
+
80 {motorid_t::frontRightSwerve,
+
81 {.adc_lo = 644, .mdeg_lo = -180 * 1000, .adc_hi = 1404, .mdeg_hi = 180 * 1000}},
+
82 {motorid_t::rearLeftSwerve,
+
83 {.adc_lo = 1260, .mdeg_lo = -180 * 1000, .adc_hi = 476, .mdeg_hi = 180 * 1000}},
+
84 {motorid_t::rearRightSwerve,
+
85 {.adc_lo = 1538, .mdeg_lo = -180 * 1000, .adc_hi = 767, .mdeg_hi = 180 * 1000}},
+
86});
+
87
+
89constexpr auto motorSerialIDMap = frozen::make_unordered_map<motorid_t, can::deviceserial_t>(
+
90 {{motorid_t::frontLeftWheel, DEVICE_SERIAL_MOTOR_CHASSIS_FL},
+
91 {motorid_t::frontRightWheel, DEVICE_SERIAL_MOTOR_CHASSIS_FR},
+
92 {motorid_t::rearLeftWheel, DEVICE_SERIAL_MOTOR_CHASSIS_BL},
+
93 {motorid_t::rearRightWheel, DEVICE_SERIAL_MOTOR_CHASSIS_BR},
+
94 {motorid_t::frontLeftSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_FL_SW},
+
95 {motorid_t::frontRightSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_FR_SW},
+
96 {motorid_t::rearLeftSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_BL_SW},
+
97 {motorid_t::rearRightSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_BR_SW},
+
98 {motorid_t::armBase, DEVICE_SERIAL_MOTOR_BASE},
+
99 {motorid_t::shoulder, DEVICE_SERIAL_MOTOR_SHOULDER},
+
100 {motorid_t::elbow, DEVICE_SERIAL_MOTOR_ELBOW},
+
101 {motorid_t::forearm, DEVICE_SERIAL_MOTOR_FOREARM},
+
102 {motorid_t::wristDiffLeft, DEVICE_SERIAL_MOTOR_WRIST_DIFF_LEFT},
+
103 {motorid_t::wristDiffRight, DEVICE_SERIAL_MOTOR_WRIST_DIFF_RIGHT},
+
104 {motorid_t::hand, DEVICE_SERIAL_MOTOR_HAND},
+
105 {motorid_t::activeSuspension, DEVICE_SERIAL_LINEAR_ACTUATOR}});
+
106
+
108constexpr auto motorPIDMap = frozen::make_unordered_map<motorid_t, pidcoef_t>(
+
109 {{motorid_t::shoulder, {70, 0, 0}},
+
110 {motorid_t::frontLeftSwerve, {2, 0, 0}},
+
111 {motorid_t::frontRightSwerve, {2, 0, 0}},
+
112 {motorid_t::rearLeftSwerve, {2, 0, 0}},
+
113 {motorid_t::rearRightSwerve, {2, 0, 0}}});
+
114
+
119constexpr auto positive_pwm_scales =
+
120 frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
+
121 {motorid_t::shoulder, -1},
+
122 {motorid_t::elbow, -1},
+
123 {motorid_t::forearm, -0.2},
+
124 {motorid_t::wristDiffLeft, -0.1},
+
125 {motorid_t::wristDiffRight, 0.1},
+
126 {motorid_t::frontLeftWheel, 0.7},
+
127 {motorid_t::frontRightWheel, 0.7},
+
128 {motorid_t::rearLeftWheel, 0.7},
+
129 {motorid_t::rearRightWheel, 0.7},
+
130 {motorid_t::frontLeftSwerve, 1.0},
+
131 {motorid_t::frontRightSwerve, 1.0},
+
132 {motorid_t::rearLeftSwerve, 1.0},
+
133 {motorid_t::rearRightSwerve, 1.0},
+
134 {motorid_t::hand, -0.75},
+
135 {motorid_t::activeSuspension, -0.5}});
+
140constexpr auto negative_pwm_scales =
+
141 frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
+
142 {motorid_t::shoulder, -1},
+
143 {motorid_t::elbow, -1},
+
144 {motorid_t::forearm, -0.2},
+
145 {motorid_t::wristDiffLeft, -0.1},
+
146 {motorid_t::wristDiffRight, 0.1},
+
147 {motorid_t::frontLeftWheel, 0.7},
+
148 {motorid_t::frontRightWheel, 0.7},
+
149 {motorid_t::rearLeftWheel, 0.7},
+
150 {motorid_t::rearRightWheel, 0.7},
+
151 {motorid_t::frontLeftSwerve, 1.0},
+
152 {motorid_t::frontRightSwerve, 1.0},
+
153 {motorid_t::rearLeftSwerve, 1.0},
+
154 {motorid_t::rearRightSwerve, 1.0},
+
155 {motorid_t::hand, -0.75},
+
156 {motorid_t::activeSuspension, -0.5}});
+
157
+
158} // namespace robot
@@ -252,10 +246,10 @@
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
robot::TELEM_PERIOD
constexpr std::chrono::milliseconds TELEM_PERIOD(50)
The default telemetry period for motors.
-
robot::motorSerialIDMap
constexpr auto motorSerialIDMap
A mapping of motorids to their corresponding serial number.
Definition real_world_constants.h:97
-
robot::positive_pwm_scales
constexpr auto positive_pwm_scales
A mapping of motorids to power scale factors when commanded with positive power.
Definition real_world_constants.h:127
-
robot::motorPIDMap
constexpr auto motorPIDMap
A mapping of PID controlled motors to their pid coefficients.
Definition real_world_constants.h:115
-
robot::negative_pwm_scales
constexpr auto negative_pwm_scales
A mapping of motorids to power scale factors when commanded with negative power.
Definition real_world_constants.h:147
+
robot::motorSerialIDMap
constexpr auto motorSerialIDMap
A mapping of motorids to their corresponding serial number.
Definition real_world_constants.h:89
+
robot::positive_pwm_scales
constexpr auto positive_pwm_scales
A mapping of motorids to power scale factors when commanded with positive power.
Definition real_world_constants.h:119
+
robot::motorPIDMap
constexpr auto motorPIDMap
A mapping of PID controlled motors to their pid coefficients.
Definition real_world_constants.h:108
+
robot::negative_pwm_scales
constexpr auto negative_pwm_scales
A mapping of motorids to power scale factors when commanded with negative power.
Definition real_world_constants.h:140
robot::encparams_t
Definition real_world_constants.h:46
robot::encparams_t::limitSwitchHigh
int limitSwitchHigh
Limit switch high, in millidegrees.
Definition real_world_constants.h:54
robot::encparams_t::zeroCalibrationPower
double zeroCalibrationPower
Power value set during limit switch calibration.
Definition real_world_constants.h:56
diff --git a/scheduler_8h_source.html b/scheduler_8h_source.html index 05f14b06..5a2072dd 100644 --- a/scheduler_8h_source.html +++ b/scheduler_8h_source.html @@ -571,7 +571,7 @@
util::impl::Notifiable
Definition scheduler.h:20
uint64_t
::uint64_t uint64_t
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
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]; diff --git a/sim__motor_8h_source.html b/sim__motor_8h_source.html index c83de99f..ebd2985d 100644 --- a/sim__motor_8h_source.html +++ b/sim__motor_8h_source.html @@ -135,7 +135,7 @@
robot::sim_motor::sim_motor
sim_motor(robot::types::motorid_t motor, bool hasPosSensor, const std::string &name, const std::string &path)
Constructor for can motor.
Definition sim_motor.cpp:9
robot::sim_motor::setMotorPower
void setMotorPower(double power) override
Set the PWM command of the motor.
Definition sim_motor.cpp:13
robot::sim_motor::getMotorPos
types::DataPoint< int32_t > getMotorPos() const override
Get the last reported position of the specified motor.
Definition sim_motor.cpp:30
-
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:134
int32_t
::int32_t int32_t
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
diff --git a/threading_8h_source.html b/threading_8h_source.html index 6cd1a30c..a4a5606f 100644 --- a/threading_8h_source.html +++ b/threading_8h_source.html @@ -161,7 +161,7 @@
util::latch::latch
latch(std::size_t count)
Create a new latch.
Definition threading.cpp:5
util::latch::wait_for
bool wait_for(const std::chrono::duration< Rep, Period > &dur) const
Wait until the latch is unlocked, with a timeout.
Definition threading.h:42
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
diff --git a/time_8h_source.html b/time_8h_source.html index 22e9d349..4f980f38 100644 --- a/time_8h_source.html +++ b/time_8h_source.html @@ -118,7 +118,7 @@
std::chrono::duration_cast
constexpr __enable_if_is_duration< _ToDur > duration_cast(const duration< _Rep, _Period > &__d)
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
util::durationToSec
double durationToSec(std::chrono::duration< Rep, Period > dur)
Convert a duration to seconds, as a double.
Definition time.h:18
diff --git a/transform_8h_source.html b/transform_8h_source.html index 4030a4c8..f4be7960 100644 --- a/transform_8h_source.html +++ b/transform_8h_source.html @@ -132,7 +132,7 @@
134} // namespace util
-
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:145
util::collides
bool collides(const transform_t &tf, const points_t &ps, double radius)
Check for intersection between a pose and a point cloud.
Definition transform.cpp:48
util::toTransformRotateFirst
transform_t toTransformRotateFirst(double x, double y, double theta)
Creates a rigid transform that takes a point from the map-frame to a frame that was rotated CCW by th...
Definition transform.cpp:62
util::quatToHeading
double quatToHeading(double qw, double qx, double qy, double qz)
Extract the heading from a quaternion.
Definition transform.cpp:9
diff --git a/world__interface_8h_source.html b/world__interface_8h_source.html index cbd463d8..6dbadc13 100644 --- a/world__interface_8h_source.html +++ b/world__interface_8h_source.html @@ -103,122 +103,120 @@
2
3#include "../gps/gps_util.h"
4#include "../kinematics/DiffDriveKinematics.h"
-
5#include "../kinematics/DiffWristKinematics.h"
-
6#include "../navtypes.h"
-
7#include "../network/websocket/WebSocketServer.h"
-
8#include "data.h"
-
9#include "motor/base_motor.h"
-
10
-
11#include <array>
-
12#include <optional>
-
13#include <unordered_set>
-
14
-
15using namespace kinematics;
-
16// forward declare cam::CameraParams instead of including it
-
17// we do this to avoid unnecessarily including OpenCV in all build targets
-
18namespace cam {
-
19class CameraParams;
-
20}
-
21
-
26namespace robot {
-
27
-
-
33enum class WorldInterface {
-
34 real,
-
35 sim2d,
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36 sim3d,
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37 noop
-
38};
+
5#include "../navtypes.h"
+
6#include "../network/websocket/WebSocketServer.h"
+
7#include "data.h"
+
8#include "motor/base_motor.h"
+
9
+
10#include <array>
+
11#include <optional>
+
12#include <unordered_set>
+
13
+
14using namespace kinematics;
+
15// forward declare cam::CameraParams instead of including it
+
16// we do this to avoid unnecessarily including OpenCV in all build targets
+
17namespace cam {
+
18class CameraParams;
+
19}
+
20
+
25namespace robot {
+
26
+
+
32enum class WorldInterface {
+
33 real,
+
34 sim2d,
+
35 sim3d,
+
36 noop
+
37};
-
39
-
41extern const WorldInterface WORLD_INTERFACE;
-
42
-
43// TODO: add documentation
-
44const kinematics::DiffDriveKinematics& driveKinematics();
-
45const kinematics::DiffWristKinematics& wristKinematics();
-
46
-
58void world_interface_init(
-
59 std::optional<std::reference_wrapper<net::websocket::SingleClientWSServer>> wsServer,
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60 bool initOnlyMotors = false);
-
61
-
68std::shared_ptr<robot::base_motor> getMotor(robot::types::motorid_t motor);
-
69
-
75void emergencyStop();
-
76
-
82bool isEmergencyStopped();
-
83
-
90std::unordered_set<types::CameraID> getCameras();
-
91
-
100bool hasNewCameraFrame(types::CameraID camera, uint32_t oldFrameNum);
-
101
-
110types::DataPoint<types::CameraFrame> readCamera(types::CameraID camera);
-
111
-
118std::optional<cam::CameraParams> getCameraIntrinsicParams(types::CameraID camera);
-
119
-
126std::optional<cv::Mat> getCameraExtrinsicParams(types::CameraID camera);
-
127
-
136types::landmarks_t readLandmarks();
-
137
-
143bool gpsHasFix();
-
144
-
151types::DataPoint<navtypes::point_t> readGPS();
-
152
-
159types::DataPoint<double> readIMUHeading();
-
160
-
166types::DataPoint<Eigen::Quaterniond> readIMU();
-
167
-
173types::DataPoint<navtypes::pose_t> getTruePose();
-
174
-
182std::optional<navtypes::point_t> gpsToMeters(const navtypes::gpscoords_t& coord);
-
183
-
189void setIndicator(types::indication_t signal);
-
190
-
197void setMotorPower(robot::types::motorid_t motor, double power);
-
198
-
207void setMotorPos(robot::types::motorid_t motor, int32_t targetPos);
-
208
-
215void setMotorVel(robot::types::motorid_t motor, int32_t targetVel);
-
216
-
225types::DataPoint<int32_t> getMotorPos(robot::types::motorid_t motor);
+
38
+
40extern const WorldInterface WORLD_INTERFACE;
+
41
+
42// TODO: add documentation
+
43const kinematics::DiffDriveKinematics& driveKinematics();
+
44
+
56void world_interface_init(
+
57 std::optional<std::reference_wrapper<net::websocket::SingleClientWSServer>> wsServer,
+
58 bool initOnlyMotors = false);
+
59
+
66std::shared_ptr<robot::base_motor> getMotor(robot::types::motorid_t motor);
+
67
+
73void emergencyStop();
+
74
+
80bool isEmergencyStopped();
+
81
+
88std::unordered_set<types::CameraID> getCameras();
+
89
+
98bool hasNewCameraFrame(types::CameraID camera, uint32_t oldFrameNum);
+
99
+
108types::DataPoint<types::CameraFrame> readCamera(types::CameraID camera);
+
109
+
116std::optional<cam::CameraParams> getCameraIntrinsicParams(types::CameraID camera);
+
117
+
124std::optional<cv::Mat> getCameraExtrinsicParams(types::CameraID camera);
+
125
+
134types::landmarks_t readLandmarks();
+
135
+
141bool gpsHasFix();
+
142
+
149types::DataPoint<navtypes::point_t> readGPS();
+
150
+
157types::DataPoint<double> readIMUHeading();
+
158
+
164types::DataPoint<Eigen::Quaterniond> readIMU();
+
165
+
171types::DataPoint<navtypes::pose_t> getTruePose();
+
172
+
180std::optional<navtypes::point_t> gpsToMeters(const navtypes::gpscoords_t& coord);
+
181
+
187void setIndicator(types::indication_t signal);
+
188
+
195void setMotorPower(robot::types::motorid_t motor, double power);
+
196
+
205void setMotorPos(robot::types::motorid_t motor, int32_t targetPos);
+
206
+
213void setMotorVel(robot::types::motorid_t motor, int32_t targetVel);
+
214
+
223types::DataPoint<int32_t> getMotorPos(robot::types::motorid_t motor);
+
224
+
225using callbackid_t = unsigned long long;
226
-
227using callbackid_t = unsigned long long;
-
228
-
229callbackid_t addLimitSwitchCallback(
-
230 robot::types::motorid_t motor,
-
231 const std::function<void(
-
232 robot::types::motorid_t motor,
-
233 robot::types::DataPoint<robot::types::LimitSwitchData> limitSwitchData)>& callback);
+
227callbackid_t addLimitSwitchCallback(
+
228 robot::types::motorid_t motor,
+
229 const std::function<void(
+
230 robot::types::motorid_t motor,
+
231 robot::types::DataPoint<robot::types::LimitSwitchData> limitSwitchData)>& callback);
+
232
+
233void removeLimitSwitchCallback(callbackid_t id);
234
-
235void removeLimitSwitchCallback(callbackid_t id);
-
236
-
248template <unsigned long int N>
-
249types::DataPoint<navtypes::Vectord<N>>
-
-
250getMotorPositionsRad(const std::array<types::motorid_t, N>& motors) {
-
251 navtypes::Vectord<N> motorPositions;
-
252 std::optional<types::datatime_t> timestamp;
-
253 for (size_t i = 0; i < motors.size(); i++) {
-
254 types::DataPoint<int32_t> positionDataPoint = robot::getMotorPos(motors[i]);
-
255 if (positionDataPoint.isValid()) {
-
256 if (!timestamp.has_value() || timestamp > positionDataPoint.getTime()) {
-
257 timestamp = positionDataPoint.getTime();
-
258 }
-
259 double position = static_cast<double>(positionDataPoint.getData());
-
260 position *= M_PI / 180.0 / 1000.0;
-
261 motorPositions(i) = position;
-
262 } else {
-
263 return {};
-
264 }
-
265 }
-
266 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
-
267}
+
246template <unsigned long int N>
+
247types::DataPoint<navtypes::Vectord<N>>
+
+
248getMotorPositionsRad(const std::array<types::motorid_t, N>& motors) {
+
249 navtypes::Vectord<N> motorPositions;
+
250 std::optional<types::datatime_t> timestamp;
+
251 for (size_t i = 0; i < motors.size(); i++) {
+
252 types::DataPoint<int32_t> positionDataPoint = robot::getMotorPos(motors[i]);
+
253 if (positionDataPoint.isValid()) {
+
254 if (!timestamp.has_value() || timestamp > positionDataPoint.getTime()) {
+
255 timestamp = positionDataPoint.getTime();
+
256 }
+
257 double position = static_cast<double>(positionDataPoint.getData());
+
258 position *= M_PI / 180.0 / 1000.0;
+
259 motorPositions(i) = position;
+
260 } else {
+
261 return {};
+
262 }
+
263 }
+
264 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
+
265}
+
266
+
267} // namespace robot
268
-
269} // namespace robot
-
270
-
271namespace gps {
-
279robot::types::DataPoint<navtypes::gpscoords_t> readGPSCoords();
-
280} // namespace gps
+
269namespace gps {
+
277robot::types::DataPoint<navtypes::gpscoords_t> readGPSCoords();
+
278} // namespace gps
@@ -228,11 +226,10 @@
kinematics::DiffDriveKinematics
Represents the kinematics of a differential drive.
Definition DiffDriveKinematics.h:14
-
kinematics::DiffWristKinematics
Represents the kinematics of a differential wrist.
Definition DiffWristKinematics.h:84
-
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
-
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:198
-
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:188
-
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:178
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:134
+
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:201
+
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:191
+
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:181
cam
Namespace for camera access system.
Definition Camera.cpp:13
uint32_t
::uint32_t uint32_t
int32_t
::int32_t int32_t
@@ -241,28 +238,28 @@
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
robot::types::landmarks_t
std::vector< DataPoint< navtypes::point_t > > landmarks_t
A data structure that represents when each landmark was seen.
Definition data.h:41
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
-
robot::world_interface_init
void world_interface_init(std::optional< std::reference_wrapper< net::websocket::SingleClientWSServer > > wsServer, bool initMotorsOnly)
Initialize the world interface.
Definition noop_world.cpp:30
+
robot::world_interface_init
void world_interface_init(std::optional< std::reference_wrapper< net::websocket::SingleClientWSServer > > wsServer, bool initMotorsOnly)
Initialize the world interface.
Definition noop_world.cpp:24
robot::readGPS
DataPoint< point_t > readGPS()
Get the current position in the global map frame based on a GPS measurement.
Definition gps_common_interface.cpp:19
-
robot::readCamera
DataPoint< CameraFrame > readCamera(CameraID cameraID)
Read the latest frame from the given camera.
Definition real_world_interface.cpp:176
-
robot::hasNewCameraFrame
bool hasNewCameraFrame(CameraID cameraID, uint32_t oldFrameNum)
Check if a new camera frame from the specified camera is available.
Definition real_world_interface.cpp:166
-
robot::isEmergencyStopped
bool isEmergencyStopped()
Check if the robot has been emergency stopped.
Definition noop_world.cpp:40
-
robot::getCameraIntrinsicParams
std::optional< cam::CameraParams > getCameraIntrinsicParams(CameraID cameraID)
Get the intrinsic params of the specified camera, if it exists.
Definition real_world_interface.cpp:194
-
robot::getTruePose
DataPoint< pose_t > getTruePose()
Get the ground truth pose, if available.
Definition noop_world.cpp:52
+
robot::readCamera
DataPoint< CameraFrame > readCamera(CameraID cameraID)
Read the latest frame from the given camera.
Definition real_world_interface.cpp:169
+
robot::hasNewCameraFrame
bool hasNewCameraFrame(CameraID cameraID, uint32_t oldFrameNum)
Check if a new camera frame from the specified camera is available.
Definition real_world_interface.cpp:159
+
robot::isEmergencyStopped
bool isEmergencyStopped()
Check if the robot has been emergency stopped.
Definition noop_world.cpp:34
+
robot::getCameraIntrinsicParams
std::optional< cam::CameraParams > getCameraIntrinsicParams(CameraID cameraID)
Get the intrinsic params of the specified camera, if it exists.
Definition real_world_interface.cpp:187
+
robot::getTruePose
DataPoint< pose_t > getTruePose()
Get the ground truth pose, if available.
Definition noop_world.cpp:46
robot::readIMU
DataPoint< Eigen::Quaterniond > readIMU()
Read the rover orientation from the IMU.
Definition ArduPilotInterface.cpp:28
-
robot::getCameras
std::unordered_set< CameraID > getCameras()
Get the IDs of the currently supported cameras.
Definition real_world_interface.cpp:162
-
robot::getMotor
std::shared_ptr< robot::base_motor > getMotor(robot::types::motorid_t motor)
Get a pointer to the motor object associated with the motor id.
Definition noop_world.cpp:34
-
robot::getMotorPositionsRad
types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad(const std::array< types::motorid_t, N > &motors)
Get the positions in radians of multiple motors at the same time.
Definition world_interface.h:250
-
robot::setMotorVel
void setMotorVel(robot::types::motorid_t motor, int32_t targetVel)
Sets the velocity of the given motor.
Definition noop_world.cpp:64
-
robot::WorldInterface
WorldInterface
An enum which defines the possible types of world interfaces.
Definition world_interface.h:33
-
robot::emergencyStop
void emergencyStop()
Emergency stop all motors.
Definition noop_world.cpp:38
+
robot::getCameras
std::unordered_set< CameraID > getCameras()
Get the IDs of the currently supported cameras.
Definition real_world_interface.cpp:155
+
robot::getMotor
std::shared_ptr< robot::base_motor > getMotor(robot::types::motorid_t motor)
Get a pointer to the motor object associated with the motor id.
Definition noop_world.cpp:28
+
robot::getMotorPositionsRad
types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad(const std::array< types::motorid_t, N > &motors)
Get the positions in radians of multiple motors at the same time.
Definition world_interface.h:248
+
robot::setMotorVel
void setMotorVel(robot::types::motorid_t motor, int32_t targetVel)
Sets the velocity of the given motor.
Definition noop_world.cpp:58
+
robot::WorldInterface
WorldInterface
An enum which defines the possible types of world interfaces.
Definition world_interface.h:32
+
robot::emergencyStop
void emergencyStop()
Emergency stop all motors.
Definition noop_world.cpp:32
robot::readIMUHeading
DataPoint< double > readIMUHeading()
Read the current heading in the global map frame based on an IMU measurement.
Definition gps_common_interface.cpp:14
-
robot::getCameraExtrinsicParams
std::optional< cv::Mat > getCameraExtrinsicParams(CameraID cameraID)
Get the extrinsic params of the specified camera, if it exists.
Definition real_world_interface.cpp:206
+
robot::getCameraExtrinsicParams
std::optional< cv::Mat > getCameraExtrinsicParams(CameraID cameraID)
Get the extrinsic params of the specified camera, if it exists.
Definition real_world_interface.cpp:199
robot::gpsHasFix
bool gpsHasFix()
Check if the GPS sensor has acquired a fix.
Definition gps_common_interface.cpp:44
-
robot::readLandmarks
landmarks_t readLandmarks()
Read measurement from the CV system.
Definition noop_world.cpp:44
+
robot::readLandmarks
landmarks_t readLandmarks()
Read measurement from the CV system.
Definition noop_world.cpp:38
robot::WORLD_INTERFACE
const WorldInterface WORLD_INTERFACE
The current world interface being used.
Definition real_world_interface.cpp:29
robot::gpsToMeters
std::optional< point_t > gpsToMeters(const gpscoords_t &coord)
Convert GPS coordinates into a coordinate on the map frame.
Definition gps_common_interface.cpp:36
-
robot::getMotorPos
types::DataPoint< int32_t > getMotorPos(robot::types::motorid_t motor)
Get the last reported position of the specified motor.
Definition noop_world.cpp:60
-
robot::setIndicator
void setIndicator(indication_t signal)
Set the robot indicator to indicate the given signal.
Definition noop_world.cpp:66
+
robot::getMotorPos
types::DataPoint< int32_t > getMotorPos(robot::types::motorid_t motor)
Get the last reported position of the specified motor.
Definition noop_world.cpp:54
+
robot::setIndicator
void setIndicator(indication_t signal)
Set the robot indicator to indicate the given signal.
Definition noop_world.cpp:60
navtypes::gpscoords_t
Represents a GPS coordinate in degrees.
Definition navtypes.h:10