diff --git a/ArduPilotProtocol_8h_source.html b/ArduPilotProtocol_8h_source.html index c001d16c..73209174 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:119
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:123
diff --git a/CANMotor_8h_source.html b/CANMotor_8h_source.html index ae7424ce..510f60e1 100644 --- a/CANMotor_8h_source.html +++ b/CANMotor_8h_source.html @@ -159,7 +159,7 @@ -
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:119
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:123
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
diff --git a/CAN_8h_source.html b/CAN_8h_source.html index dc23d235..6309308d 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:119
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:123
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/Globals_8h_source.html b/Globals_8h_source.html index a9afa437..96bc5019 100644 --- a/Globals_8h_source.html +++ b/Globals_8h_source.html @@ -130,7 +130,7 @@
control::PlanarArmController
Controller to move planar arm to a target end effector position.
Definition PlanarArmController.h:28
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:72
+
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:76
diff --git a/base__motor_8h_source.html b/base__motor_8h_source.html index dc720253..c3fd8c1d 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:119
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:123
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 ebddeaaa..8ad67243 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:119
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:123
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/data_8h_source.html b/data_8h_source.html index c19b2c77..2f2f0661 100644 --- a/data_8h_source.html +++ b/data_8h_source.html @@ -145,162 +145,166 @@
57enum class motorid_t {
58 frontLeftWheel,
-
59 frontRightWheel,
-
60 rearLeftWheel,
-
61 rearRightWheel,
-
62 armBase,
-
63 shoulder,
-
64 elbow,
-
65 forearm,
-
66 wrist,
-
67 hand,
-
68 activeSuspension
-
69};
+
59 frontLeftSwerve,
+
60 frontRightWheel,
+
61 frontRightSwerve,
+
62 rearLeftWheel,
+
63 rearLeftSwerve,
+
64 rearRightWheel,
+
65 rearRightSwerve,
+
66 armBase,
+
67 shoulder,
+
68 elbow,
+
69 forearm,
+
70 wrist,
+
71 hand,
+
72 activeSuspension
+
73};
-
70
-
-
72enum class mountedperipheral_t {
-
73 none,
-
74 arm,
-
75 armServo,
-
76 scienceStation,
-
77 lidar
-
78};
+
74
+
+
76enum class mountedperipheral_t {
+
77 none,
+
78 arm,
+
79 armServo,
+
80 scienceStation,
+
81 lidar
+
82};
-
79
-
80enum class jointid_t {
-
81 armBase,
-
82 shoulder,
-
83 elbow,
-
84 forearm,
-
85 wrist,
-
86 hand,
-
87 activeSuspension,
-
88 ikForward,
-
89 ikUp
-
90};
-
91
-
92constexpr auto all_jointid_t = frozen::make_unordered_set<jointid_t>(
-
93 {jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
-
94 jointid_t::wrist, jointid_t::hand, jointid_t::activeSuspension, jointid_t::ikForward,
-
95 jointid_t::ikUp});
-
96
-
97constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, jointid_t>(
-
98 {{"armBase", jointid_t::armBase},
-
99 {"shoulder", jointid_t::shoulder},
-
100 {"elbow", jointid_t::elbow},
-
101 {"forearm", jointid_t::forearm},
-
102 {"wrist", jointid_t::wrist},
-
103 {"hand", jointid_t::hand},
-
104 {"activeSuspension", jointid_t::activeSuspension},
-
105 {"ikForward", jointid_t::ikForward},
-
106 {"ikUp", jointid_t::ikUp}});
-
107
-
-
108class bad_datapoint_access : public std::runtime_error {
-
109public:
-
110 bad_datapoint_access() : std::runtime_error("bad_datapoint_access") {}
-
111};
+
83
+
84enum class jointid_t {
+
85 armBase,
+
86 shoulder,
+
87 elbow,
+
88 forearm,
+
89 wrist,
+
90 hand,
+
91 activeSuspension,
+
92 ikForward,
+
93 ikUp
+
94};
+
95
+
96constexpr auto all_jointid_t = frozen::make_unordered_set<jointid_t>(
+
97 {jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
+
98 jointid_t::wrist, jointid_t::hand, jointid_t::activeSuspension, jointid_t::ikForward,
+
99 jointid_t::ikUp});
+
100
+
101constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, jointid_t>(
+
102 {{"armBase", jointid_t::armBase},
+
103 {"shoulder", jointid_t::shoulder},
+
104 {"elbow", jointid_t::elbow},
+
105 {"forearm", jointid_t::forearm},
+
106 {"wrist", jointid_t::wrist},
+
107 {"hand", jointid_t::hand},
+
108 {"activeSuspension", jointid_t::activeSuspension},
+
109 {"ikForward", jointid_t::ikForward},
+
110 {"ikUp", jointid_t::ikUp}});
+
111
+
+
112class bad_datapoint_access : public std::runtime_error {
+
113public:
+
114 bad_datapoint_access() : std::runtime_error("bad_datapoint_access") {}
+
115};
-
112
-
118template <typename T>
-
-
119class DataPoint {
-
120public:
-
124 DataPoint() : datapoint() {}
-
125
-
131 DataPoint(T data) : DataPoint(dataclock::now(), data) {}
-
132
-
139 DataPoint(datatime_t time, T data) : datapoint({time, data}) {}
-
140
-
-
146 operator bool() const {
-
147 return isValid();
-
148 }
+
116
+
122template <typename T>
+
+
123class DataPoint {
+
124public:
+
128 DataPoint() : datapoint() {}
+
129
+
135 DataPoint(T data) : DataPoint(dataclock::now(), data) {}
+
136
+
143 DataPoint(datatime_t time, T data) : datapoint({time, data}) {}
+
144
+
+
150 operator bool() const {
+
151 return isValid();
+
152 }
-
149
-
-
157 bool isFresh(std::chrono::milliseconds duration) const {
-
158 return isValid() && dataclock::now() - duration <= getTime();
-
159 }
+
153
+
+
161 bool isFresh(std::chrono::milliseconds duration) const {
+
162 return isValid() && dataclock::now() - duration <= getTime();
+
163 }
-
160
-
-
166 bool isValid() const {
-
167 return datapoint.has_value();
-
168 }
+
164
+
+
170 bool isValid() const {
+
171 return datapoint.has_value();
+
172 }
-
169
-
-
176 datatime_t getTime() const {
-
177 return datapoint.value().first;
-
178 }
+
173
+
+
180 datatime_t getTime() const {
+
181 return datapoint.value().first;
+
182 }
-
179
-
-
186 T getData() const {
-
187 if (isValid()) {
-
188 return datapoint.value().second;
-
189 } else {
-
190 throw bad_datapoint_access();
-
191 }
-
192 }
+
183
+
+
190 T getData() const {
+
191 if (isValid()) {
+
192 return datapoint.value().second;
+
193 } else {
+
194 throw bad_datapoint_access();
+
195 }
+
196 }
-
193
-
-
201 T getDataOrElse(T defaultData) {
-
202 return isValid() ? getData() : defaultData;
-
203 }
+
197
+
+
205 T getDataOrElse(T defaultData) {
+
206 return isValid() ? getData() : defaultData;
+
207 }
-
204
-
214 template <typename F>
-
-
215 DataPoint<std::invoke_result_t<F, T>> transform(const F& f) {
-
216 if (isValid()) {
-
217 return DataPoint<std::invoke_result_t<F, T>>(getTime(), f(getData()));
-
218 } else {
-
219 return {};
-
220 }
-
221 }
+
208
+
218 template <typename F>
+
+
219 DataPoint<std::invoke_result_t<F, T>> transform(const F& f) {
+
220 if (isValid()) {
+
221 return DataPoint<std::invoke_result_t<F, T>>(getTime(), f(getData()));
+
222 } else {
+
223 return {};
+
224 }
+
225 }
-
222
-
223private:
-
227 std::optional<std::pair<datatime_t, T>> datapoint;
-
228};
-
-
229
-
233constexpr size_t N_LIMIT_SWITCH = 8;
-
234
-
235constexpr int LIMIT_SWITCH_LIM_MIN_IDX = 0;
-
236constexpr int LIMIT_SWITCH_LIM_MAX_IDX = 1;
-
237
-
-
241class LimitSwitchData {
-
242public:
-
251 LimitSwitchData(unsigned long long data);
-
252
-
261 bool isOpen(size_t idx);
-
262
-
271 bool isClosed(size_t idx);
-
272
-
278 bool isAnyOpen();
-
279
-
285 bool isAnyClosed();
-
286
-
296 std::bitset<N_LIMIT_SWITCH> diff(const LimitSwitchData& other);
-
297
-
298private:
-
299 std::bitset<N_LIMIT_SWITCH> data;
-
300};
+
226
+
227private:
+
231 std::optional<std::pair<datatime_t, T>> datapoint;
+
232};
+
233
+
237constexpr size_t N_LIMIT_SWITCH = 8;
+
238
+
239constexpr int LIMIT_SWITCH_LIM_MIN_IDX = 0;
+
240constexpr int LIMIT_SWITCH_LIM_MAX_IDX = 1;
+
241
+
+
245class LimitSwitchData {
+
246public:
+
255 LimitSwitchData(unsigned long long data);
+
256
+
265 bool isOpen(size_t idx);
+
266
+
275 bool isClosed(size_t idx);
+
276
+
282 bool isAnyOpen();
+
283
+
289 bool isAnyClosed();
+
290
+
300 std::bitset<N_LIMIT_SWITCH> diff(const LimitSwitchData& other);
301
-
302} // namespace robot::types
-
303
-
304namespace util {
-
305std::string to_string(robot::types::jointid_t joint);
-
306std::string to_string(const robot::types::CameraID& id);
-
307std::string to_string(robot::types::mountedperipheral_t peripheral);
-
308} // namespace util
+
302private:
+
303 std::bitset<N_LIMIT_SWITCH> data;
+
304};
+
+
305
+
306} // namespace robot::types
+
307
+
308namespace util {
+
309std::string to_string(robot::types::jointid_t joint);
+
310std::string to_string(const robot::types::CameraID& id);
+
311std::string to_string(robot::types::mountedperipheral_t peripheral);
+
312} // namespace util
@@ -314,33 +318,33 @@ -
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:119
-
robot::types::DataPoint::isFresh
bool isFresh(std::chrono::milliseconds duration) const
Check if this measurement was taken recently.
Definition data.h:157
-
robot::types::DataPoint::DataPoint
DataPoint(T data)
Construct a new DataPoint object, measured now.
Definition data.h:131
-
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:186
-
robot::types::DataPoint::DataPoint
DataPoint(datatime_t time, T data)
Construct a new DataPoint object, measured at the given time.
Definition data.h:139
-
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:176
-
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:166
-
robot::types::DataPoint::DataPoint
DataPoint()
Construct an invalid DataPoint, holding no data.
Definition data.h:124
-
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:215
-
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:201
-
robot::types::LimitSwitchData
A class that represents limit switches from a specific motor.
Definition data.h:241
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:123
+
robot::types::DataPoint::isFresh
bool isFresh(std::chrono::milliseconds duration) const
Check if this measurement was taken recently.
Definition data.h:161
+
robot::types::DataPoint::DataPoint
DataPoint(T data)
Construct a new DataPoint object, measured now.
Definition data.h:135
+
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:190
+
robot::types::DataPoint::DataPoint
DataPoint(datatime_t time, T data)
Construct a new DataPoint object, measured at the given time.
Definition data.h:143
+
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:180
+
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:170
+
robot::types::DataPoint::DataPoint
DataPoint()
Construct an invalid DataPoint, holding no data.
Definition data.h:128
+
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:219
+
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:205
+
robot::types::LimitSwitchData
A class that represents limit switches from a specific motor.
Definition data.h:245
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:108
+
robot::types::bad_datapoint_access
Definition data.h:112
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:72
+
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:76
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:233
+
robot::types::N_LIMIT_SWITCH
constexpr size_t N_LIMIT_SWITCH
The maximum number of limit switches associated with any motor.
Definition data.h:237
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
util::to_string
std::string to_string(const T &val)
Convert the given value to a string.
Definition core.h:51
diff --git a/doxygen_crawl.html b/doxygen_crawl.html index 7d2e9338..10051803 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -986,7 +986,6 @@ - @@ -1010,17 +1009,21 @@ + + + + diff --git a/namespacemembers.html b/namespacemembers.html index 65d4e4b7..3c9f0ff0 100644 --- a/namespacemembers.html +++ b/namespacemembers.html @@ -219,7 +219,6 @@

- n -

{motorid_t::rearLeftWheel, DEVICE_SERIAL_MOTOR_CHASSIS_BL},
{motorid_t::rearRightWheel, DEVICE_SERIAL_MOTOR_CHASSIS_BR},
+
{motorid_t::frontLeftSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_FL_SW},
+
{motorid_t::frontRightSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_FR_SW},
+
{motorid_t::rearLeftSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_BL_SW},
+
{motorid_t::rearRightSwerve, DEVICE_SERIAL_MOTOR_CHASSIS_BR_SW},
{motorid_t::armBase, DEVICE_SERIAL_MOTOR_BASE},
{motorid_t::shoulder, DEVICE_SERIAL_MOTOR_SHOULDER},
{motorid_t::elbow, DEVICE_SERIAL_MOTOR_ELBOW},
@@ -1131,38 +1137,16 @@

{motorid_t::frontRightWheel, 0.7},

{motorid_t::rearLeftWheel, 0.7},
{motorid_t::rearRightWheel, -0.7},
+
{motorid_t::frontLeftSwerve, 1.0},
+
{motorid_t::frontRightSwerve, 1.0},
+
{motorid_t::rearLeftSwerve, 1.0},
+
{motorid_t::rearRightSwerve, 1.0},
{motorid_t::hand, -0.75},
{motorid_t::activeSuspension, -0.5}})

A mapping of motorids to power scale factors when commanded with negative power.

Negative values mean that the motor is inverted.

-
-
- -

◆ pidMotors

- -
-
- - - - - -
- - - - -
auto robot::pidMotors
- 		-constexpr
-
-Initial value:
=
-
frozen::make_unordered_set<motorid_t>({motorid_t::shoulder, motorid_t::elbow})
-
-

The set of motors that are PID controlled.

-
@@ -1194,6 +1178,10 @@

{motorid_t::frontRightWheel, 0.7},

{motorid_t::rearLeftWheel, 0.7},
{motorid_t::rearRightWheel, -0.7},
+
{motorid_t::frontLeftSwerve, 1.0},
+
{motorid_t::frontRightSwerve, 1.0},
+
{motorid_t::rearLeftSwerve, 1.0},
+
{motorid_t::rearRightSwerve, 1.0},
{motorid_t::hand, -0.75},
{motorid_t::activeSuspension, -0.5}})
@@ -1221,15 +1209,24 @@

-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}}})
+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::frontLeftSwerve,
+
{.adc_lo = 1422, .mdeg_lo = -180 * 1000, .adc_hi = 656, .mdeg_hi = 180 * 1000}},
+
{motorid_t::frontRightSwerve,
+
{.adc_lo = 644, .mdeg_lo = -180 * 1000, .adc_hi = 1404, .mdeg_hi = 180 * 1000}},
+
{motorid_t::rearLeftSwerve,
+
{.adc_lo = 1907, .mdeg_lo = -180 * 1000, .adc_hi = 1133, .mdeg_hi = 180 * 1000}},
+
{motorid_t::rearRightSwerve,
+
{.adc_lo = 1538, .mdeg_lo = -180 * 1000, .adc_hi = 767, .mdeg_hi = 180 * 1000}},
+
})

diff --git a/namespacerobot_1_1types.html b/namespacerobot_1_1types.html index 8700a50b..c884af8e 100644 --- a/namespacerobot_1_1types.html +++ b/namespacerobot_1_1types.html @@ -152,9 +152,14 @@   enum class  motorid_t {
  frontLeftWheel +, frontLeftSwerve , frontRightWheel -, rearLeftWheel +, frontRightSwerve +,
+  rearLeftWheel +, rearLeftSwerve , rearRightWheel +, rearRightSwerve ,
  armBase , shoulder diff --git a/real__world__constants_8h_source.html b/real__world__constants_8h_source.html index fa537af9..4189b0e1 100644 --- a/real__world__constants_8h_source.html +++ b/real__world__constants_8h_source.html @@ -126,98 +126,121 @@
24// TODO: measure to see optimal telemetry period
26constexpr std::chrono::milliseconds TELEM_PERIOD(50);
27
-
29constexpr auto pidMotors =
-
30 frozen::make_unordered_set<motorid_t>({motorid_t::shoulder, motorid_t::elbow});
-
31
-
-
39struct potparams_t {
-
41 uint16_t adc_lo;
-
43 int32_t mdeg_lo;
-
45 uint16_t adc_hi;
-
47 int32_t mdeg_hi;
-
48};
+ -
49
-
-
50struct encparams_t {
-
52 bool isInverted;
-
54 int ppjr;
-
56 int limitSwitchLow;
-
58 int limitSwitchHigh;
-
60 double zeroCalibrationPower;
-
61};
+
45
+
+
46struct encparams_t {
+
48 bool isInverted;
+
50 int ppjr;
+
52 int limitSwitchLow;
+
54 int limitSwitchHigh;
+
56 double zeroCalibrationPower;
+
57};
-
62
-
63// clang-format off
-
64constexpr auto encMotors = frozen::make_unordered_map<motorid_t, encparams_t>({
-
65 {motorid_t::shoulder,
-
66 {.isInverted = true,
-
67 .ppjr = 4590 * 1024 * 4,
-
68 .limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).first,
-
69 .limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).second,
-
70 .zeroCalibrationPower = 0.4}},
-
71 {motorid_t::elbow,
-
72 {.isInverted = false,
-
73 .ppjr = 1620 * 1024 * 4,
-
74 .limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::elbow).first,
-
75 .limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::elbow).second,
-
76 .zeroCalibrationPower = -0.15}}
-
77});
-
78// clang-format on
-
79
-
80// TODO: find appropriate bounds
-
81constexpr auto potMotors = frozen::make_unordered_map<motorid_t, potparams_t>(
-
82 {{motorid_t::armBase,
-
83 {.adc_lo = 123, .mdeg_lo = -200 * 1000, .adc_hi = 456, .mdeg_hi = 200 * 1000}},
-
84 {motorid_t::forearm,
-
85 {.adc_lo = 1208, .mdeg_lo = -180 * 1000, .adc_hi = 841, .mdeg_hi = 180 * 1000}},
-
86 {motorid_t::wrist,
-
87 {.adc_lo = 123, .mdeg_lo = -100 * 1000, .adc_hi = 456, .mdeg_hi = 100 * 1000}},
-
88 {motorid_t::activeSuspension,
-
89 {.adc_lo = 251, .mdeg_lo = -19 * 1000, .adc_hi = 1645, .mdeg_hi = 31 * 1000}}});
-
90
-
92constexpr auto motorSerialIDMap = frozen::make_unordered_map<motorid_t, can::deviceserial_t>(
-
93 {{motorid_t::frontLeftWheel, DEVICE_SERIAL_MOTOR_CHASSIS_FL},
-
94 {motorid_t::frontRightWheel, DEVICE_SERIAL_MOTOR_CHASSIS_FR},
-
95 {motorid_t::rearLeftWheel, DEVICE_SERIAL_MOTOR_CHASSIS_BL},
-
96 {motorid_t::rearRightWheel, DEVICE_SERIAL_MOTOR_CHASSIS_BR},
-
97 {motorid_t::armBase, DEVICE_SERIAL_MOTOR_BASE},
-
98 {motorid_t::shoulder, DEVICE_SERIAL_MOTOR_SHOULDER},
-
99 {motorid_t::elbow, DEVICE_SERIAL_MOTOR_ELBOW},
-
100 {motorid_t::forearm, DEVICE_SERIAL_MOTOR_FOREARM},
-
101 {motorid_t::wrist, DEVICE_SERIAL_MOTOR_WRIST},
-
102 {motorid_t::hand, DEVICE_SERIAL_MOTOR_HAND},
-
103 {motorid_t::activeSuspension, DEVICE_SERIAL_LINEAR_ACTUATOR}});
-
104
-
106constexpr auto motorPIDMap = frozen::make_unordered_map<motorid_t, pidcoef_t>(
-
107 {{motorid_t::shoulder, {70, 0, 0}}, {motorid_t::elbow, {15, 7, -2}}});
-
108
-
113constexpr auto positive_pwm_scales =
-
114 frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.75},
-
115 {motorid_t::shoulder, 1},
-
116 {motorid_t::elbow, 1},
-
117 {motorid_t::forearm, -0.65},
-
118 {motorid_t::wrist, 0.1},
-
119 {motorid_t::frontLeftWheel, 0.7},
-
120 {motorid_t::frontRightWheel, 0.7},
-
121 {motorid_t::rearLeftWheel, 0.7},
-
122 {motorid_t::rearRightWheel, -0.7},
-
123 {motorid_t::hand, -0.75},
-
124 {motorid_t::activeSuspension, -0.5}});
-
129constexpr auto negative_pwm_scales =
-
130 frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.75},
-
131 {motorid_t::shoulder, 1},
-
132 {motorid_t::elbow, 1},
-
133 {motorid_t::forearm, -0.65},
-
134 {motorid_t::wrist, 0.1},
-
135 {motorid_t::frontLeftWheel, 0.7},
-
136 {motorid_t::frontRightWheel, 0.7},
-
137 {motorid_t::rearLeftWheel, 0.7},
-
138 {motorid_t::rearRightWheel, -0.7},
-
139 {motorid_t::hand, -0.75},
-
140 {motorid_t::activeSuspension, -0.5}});
-
141
-
142} // namespace robot
+
58
+
59// clang-format off
+
60constexpr auto encMotors = frozen::make_unordered_map<motorid_t, encparams_t>({
+
61 {motorid_t::shoulder,
+
62 {.isInverted = true,
+
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 = 1907, .mdeg_lo = -180 * 1000, .adc_hi = 1133, .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, -1}},
+
119 {motorid_t::frontRightSwerve, {3, 0, -1}},
+
120 {motorid_t::rearLeftSwerve, {0, 0, 0}},
+
121 {motorid_t::rearRightSwerve, {2, 0, -1}}});
+
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
@@ -229,23 +252,22 @@
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::pidMotors
constexpr auto pidMotors
The set of motors that are PID controlled.
Definition real_world_constants.h:29
-
robot::motorSerialIDMap
constexpr auto motorSerialIDMap
A mapping of motorids to their corresponding serial number.
Definition real_world_constants.h:92
-
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:113
-
robot::motorPIDMap
constexpr auto motorPIDMap
A mapping of PID controlled motors to their pid coefficients.
Definition real_world_constants.h:106
-
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:129
-
robot::encparams_t
Definition real_world_constants.h:50
-
robot::encparams_t::limitSwitchHigh
int limitSwitchHigh
Limit switch high, in millidegrees.
Definition real_world_constants.h:58
-
robot::encparams_t::zeroCalibrationPower
double zeroCalibrationPower
Power value set during limit switch calibration.
Definition real_world_constants.h:60
-
robot::encparams_t::isInverted
bool isInverted
Whether the encoder motor is inverted.
Definition real_world_constants.h:52
-
robot::encparams_t::ppjr
int ppjr
Encoder pulses count per joint revolution.
Definition real_world_constants.h:54
-
robot::encparams_t::limitSwitchLow
int limitSwitchLow
Limit switch low, in millidegrees.
Definition real_world_constants.h:56
+
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::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
+
robot::encparams_t::isInverted
bool isInverted
Whether the encoder motor is inverted.
Definition real_world_constants.h:48
+
robot::encparams_t::ppjr
int ppjr
Encoder pulses count per joint revolution.
Definition real_world_constants.h:50
+
robot::encparams_t::limitSwitchLow
int limitSwitchLow
Limit switch low, in millidegrees.
Definition real_world_constants.h:52
robot::pidcoef_t
A struct containing a set of PID coefficients.
Definition real_world_constants.h:20
-
robot::potparams_t
Represents parameters defining a potentiometer scale.
Definition real_world_constants.h:39
-
robot::potparams_t::adc_hi
uint16_t adc_hi
The "high" point on the ADC scale.
Definition real_world_constants.h:45
-
robot::potparams_t::adc_lo
uint16_t adc_lo
The "low" point on the ADC scale.
Definition real_world_constants.h:41
-
robot::potparams_t::mdeg_hi
int32_t mdeg_hi
The "high" point on the joint rotation scale.
Definition real_world_constants.h:47
-
robot::potparams_t::mdeg_lo
int32_t mdeg_lo
The "low" point on the joint rotation scale.
Definition real_world_constants.h:43
+
robot::potparams_t
Represents parameters defining a potentiometer scale.
Definition real_world_constants.h:35
+
robot::potparams_t::adc_hi
uint16_t adc_hi
The "high" point on the ADC scale.
Definition real_world_constants.h:41
+
robot::potparams_t::adc_lo
uint16_t adc_lo
The "low" point on the ADC scale.
Definition real_world_constants.h:37
+
robot::potparams_t::mdeg_hi
int32_t mdeg_hi
The "high" point on the joint rotation scale.
Definition real_world_constants.h:43
+
robot::potparams_t::mdeg_lo
int32_t mdeg_lo
The "low" point on the joint rotation scale.
Definition real_world_constants.h:39
diff --git a/search/all_19.js b/search/all_19.js index 307318c0..68b60918 100644 --- a/search/all_19.js +++ b/search/all_19.js @@ -293,632 +293,631 @@ var searchData= ['pidcoef_5ft_290',['pidcoef_t',['../structrobot_1_1pidcoef__t.html',1,'robot']]], ['pidcontroller_291',['PIDController',['../classcontrol_1_1PIDController.html',1,'control::PIDController< dim >'],['../classcontrol_1_1PIDController.html#ad88305ead74b819e1545be3d8fcf7c28',1,'control::PIDController::PIDController()']]], ['pidgains_292',['PIDGains',['../structcontrol_1_1PIDGains.html',1,'control']]], - ['pidmotors_293',['pidMotors',['../namespacerobot.html#a98f16731da8ac7f980fe19c12aa3a4f8',1,'robot']]], - ['piecewise_5fconstant_5fdistribution_294',['piecewise_constant_distribution',['https://gcc.gnu.org/onlinedocs/gcc-9.3.0/libstdc++/api/a06499.html',1,'std']]], - 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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:119
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:123
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/world__interface_8h_source.html b/world__interface_8h_source.html index 3d884ba6..ff504834 100644 --- a/world__interface_8h_source.html +++ b/world__interface_8h_source.html @@ -222,10 +222,10 @@
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:119
-
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:186
-
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:176
-
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:166
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:123
+
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:190
+
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:180
+
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:170
cam
Namespace for camera access system.
Definition Camera.cpp:13
uint32_t
::uint32_t uint32_t
int32_t
::int32_t int32_t
@@ -236,20 +236,20 @@
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::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:185
-
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:175
+
robot::readCamera
DataPoint< CameraFrame > readCamera(CameraID cameraID)
Read the latest frame from the given camera.
Definition real_world_interface.cpp:186
+
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:176
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:203
+
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:204
robot::getTruePose
DataPoint< pose_t > getTruePose()
Get the ground truth pose, if available.
Definition noop_world.cpp:52
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:171
+
robot::getCameras
std::unordered_set< CameraID > getCameras()
Get the IDs of the currently supported cameras.
Definition real_world_interface.cpp:172
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:245
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::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:215
+
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:216
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::WORLD_INTERFACE
const WorldInterface WORLD_INTERFACE
The current world interface being used.
Definition real_world_interface.cpp:29