From a9109751c3f843ea90beba46ec048b8b810395ee Mon Sep 17 00:00:00 2001 From: abhaybd Date: Mon, 20 May 2024 05:48:54 +0000 Subject: [PATCH] deploy: 890261921f19698a32507abf54fed458a46350ca --- AutonomousTask_8h_source.html | 164 ++ Constants_8h_source.html | 231 +-- DriveToWaypointCommand_8h_source.html | 10 +- MissionControlMessages_8h_source.html | 21 +- MissionControlProtocol_8h_source.html | 122 +- annotated.html | 182 +- ...sautonomous_1_1AutonomousTask-members.html | 102 + classautonomous_1_1AutonomousTask.html | 112 ++ ...nds_1_1DriveToWaypointCommand-members.html | 2 +- classcommands_1_1DriveToWaypointCommand.html | 24 +- classes.html | 2 +- dir_164724f2049c96ee2d1b69e829ddec4e.html | 110 ++ dir_164724f2049c96ee2d1b69e829ddec4e_dep.map | 4 + dir_164724f2049c96ee2d1b69e829ddec4e_dep.md5 | 1 + dir_164724f2049c96ee2d1b69e829ddec4e_dep.png | Bin 0 -> 2477 bytes dir_68267d1309a1af8e8297ef4c3efbcdba.html | 2 + doxygen_crawl.html | 4 + files.html | 146 +- functions_d.html | 2 +- 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inherit_graph_9.map | 2 +- inherit_graph_9.md5 | 2 +- inherit_graph_9.png | Bin 1658 -> 1744 bytes inherits.html | 121 +- namespacerobot.html | 4 +- real__world__constants_8h_source.html | 4 +- search/all_10.js | 8 +- search/all_11.js | 203 +- search/all_12.js | 773 ++++---- search/all_13.js | 147 +- search/all_14.js | 4 +- search/all_15.js | 521 ++--- search/all_16.js | 1097 +++++----- search/all_17.js | 657 +++--- search/all_19.js | 1570 +++++++-------- search/all_1a.js | 21 +- search/all_1b.js | 1199 ++++++----- search/all_1c.js | 970 +++++---- search/all_1d.js | 721 +++---- search/all_1e.js | 8 +- search/all_1f.js | 404 ++-- search/all_23.js | 25 +- search/all_24.js | 4 +- search/all_9.js | 283 +-- search/all_a.js | 580 +++--- search/all_b.js | 12 +- search/all_c.js | 1760 ++++++++--------- search/all_d.js | 441 +++-- search/all_e.js | 348 ++-- search/all_f.js | 403 ++-- search/classes_1.js | 11 +- search/functions_1.js | 4 +- search/functions_10.js | 4 +- search/functions_11.js | 4 +- search/functions_12.js | 429 ++-- search/functions_13.js | 12 +- search/functions_14.js | 97 +- search/functions_16.js | 8 +- search/functions_1a.js | 13 +- search/functions_1b.js | 4 +- search/functions_3.js | 8 +- search/functions_4.js | 2 +- search/functions_7.js | 8 +- search/functions_8.js | 6 +- search/functions_9.js | 165 +- search/functions_a.js | 4 +- search/functions_b.js | 4 +- search/functions_c.js | 8 +- search/functions_d.js | 12 +- search/variables_10.js | 4 +- search/variables_14.js | 4 +- search/variables_2.js | 4 +- search/variables_3.js | 20 +- search/variables_6.js | 4 +- search/variables_8.js | 4 +- search/variables_9.js | 8 +- search/variables_d.js | 8 +- search/variables_e.js | 233 +-- 253 files changed, 7831 insertions(+), 7299 deletions(-) create mode 100644 AutonomousTask_8h_source.html create mode 100644 classautonomous_1_1AutonomousTask-members.html create mode 100644 classautonomous_1_1AutonomousTask.html create mode 100644 dir_164724f2049c96ee2d1b69e829ddec4e.html create mode 100644 dir_164724f2049c96ee2d1b69e829ddec4e_dep.map create mode 100644 dir_164724f2049c96ee2d1b69e829ddec4e_dep.md5 create mode 100644 dir_164724f2049c96ee2d1b69e829ddec4e_dep.png create mode 100644 inherit_graph_62.map create mode 100644 inherit_graph_62.md5 create mode 100644 inherit_graph_62.png diff --git a/AutonomousTask_8h_source.html b/AutonomousTask_8h_source.html new file mode 100644 index 000000000..495c260ea --- /dev/null +++ b/AutonomousTask_8h_source.html @@ -0,0 +1,164 @@ + + + + + + + +Resurgence (PY2022): src/autonomous/AutonomousTask.h Source File + + + + + + + + + + + + + +
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Resurgence (PY2022) +
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Codebase for the Husky Robotics 2021-2022 rover Resurgence
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AutonomousTask.h
+
+
+
1#pragma once
+
2
+
3#include "../navtypes.h"
+
4
+
5#include <cmath>
+
6#include <condition_variable>
+
7#include <mutex>
+
8#include <thread>
+
9
+
10namespace autonomous {
+
11
+
12/*
+
13 * @brief This class facilitates autonomous navigation to a specified waypoint.
+
14 */
+
+
15class AutonomousTask {
+
16public:
+
17 /*
+
18 * @brief Constructs a new AutonomousTask
+
19 */
+
20 AutonomousTask();
+
21
+
22 /*
+
23 * @brief Destructs AutonomousTask object, joins _autonomous_task_thread
+
24 */
+
25 ~AutonomousTask();
+
26
+
27 /*
+
28 * @brief Starts an autonomous task to the provided waypoint
+
29 *
+
30 * @param navtypes::pose_t The waypoint to navigate to
+
31 */
+
32 void start(const navtypes::point_t&);
+
33
+
34 /*
+
35 * @brief Halts autonomous navigation by exiting the navigate() function and joining the
+
36 * autonomous task thread
+
37 */
+
38 void kill();
+
39
+
40private:
+
41 /*
+
42 * @brief Handles navigation to waypoint, called by start()
+
43 */
+
44 void navigate();
+
45
+
46 navtypes::point_t _waypoint_coords;
+
47 std::mutex _autonomous_task_mutex;
+
48 std::thread _autonomous_task_thread;
+
49 std::condition_variable _autonomous_task_cv;
+
50 bool _kill_called;
+
51};
+
+
52
+
53} // namespace autonomous
+ + + + +
start
size_t start() const
+ + + +
autonomous::AutonomousTask
Definition AutonomousTask.h:15
+
+ +
+Generated by doxygen 1.10.0 +
+ + diff --git a/Constants_8h_source.html b/Constants_8h_source.html index 927199722..00c26668c 100644 --- a/Constants_8h_source.html +++ b/Constants_8h_source.html @@ -93,116 +93,127 @@
1#pragma once
2
-
3#include "world_interface/data.h"
-
4
-
5#include <array>
-
6#include <chrono>
-
7#include <cmath>
-
8#include <string>
-
9
-
10#include <frozen/unordered_map.h>
-
11
-
12namespace Constants {
-
13// TODO: make sure these are still accurate with the new arm.
-
14extern const double SHOULDER_LENGTH;
-
15extern const double ELBOW_LENGTH;
-
16
-
20extern const float MDEG_PER_DEG;
-
21
-
22// TODO: tune these drive extern constants
-
23extern const double ROBOT_LENGTH;
-
27extern const double WHEEL_BASE;
-
32extern const double EFF_WHEEL_BASE;
-
33extern const double WHEEL_RADIUS;
-
34extern const double PWM_PER_RAD_PER_SEC;
-
35extern const double MAX_DRIVE_PWM;
-
36
-
43extern const double MAX_WHEEL_VEL;
-
50extern const double MAX_DTHETA;
-
51
-
52// TODO: We need to recalibrate the camera, since we replaced it with a different one.
-
53// TODO: rename cameras (in MC as well) as appropriate
-
54extern const char* MAST_CAMERA_CONFIG_PATH;
-
55extern const robot::types::CameraID MAST_CAMERA_ID;
-
56
-
57extern const char* FOREARM_CAMERA_CONFIG_PATH;
-
58extern const robot::types::CameraID FOREARM_CAMERA_ID;
-
59
-
60extern const char* HAND_CAMERA_CONFIG_PATH;
-
61extern const robot::types::CameraID HAND_CAMERA_ID;
-
62
-
63extern const uint16_t WS_SERVER_PORT;
-
64
-
68extern const char* MC_PROTOCOL_NAME;
-
72extern const char* SIM_PROTOCOL_NAME;
-
76extern const char* DGPS_PROTOCOL_NAME;
-
80extern const char* ARDUPILOT_PROTOCOL_NAME;
-
81
-
82extern const std::chrono::milliseconds JOINT_POWER_REPEAT_PERIOD;
-
83extern const std::chrono::milliseconds ARM_IK_UPDATE_PERIOD;
-
84
-
85namespace Nav {
-
86// Distance (m) we could have traveled forward in the time it takes to turn 1 radian
-
87extern const double RADIAN_COST;
-
88// Planner stays this far away from obstacles (m)
-
89extern const double SAFE_RADIUS;
-
90extern const int MAX_ITERS;
-
91extern const double PLAN_RESOLUTION;
-
92extern const double SEARCH_RADIUS_INCREMENT;
-
93extern const double GPS_WAYPOINT_RADIUS;
-
94extern const double LANDMARK_WAYPOINT_RADIUS;
-
95extern const double EPS;
-
96} // namespace Nav
-
97
-
98// Lidar
-
99namespace Lidar {
-
100extern const std::string RP_PATH;
-
101extern const double MM_PER_M;
-
102extern const uint32_t RPLIDAR_A1_BAUDRATE;
-
103extern const uint32_t RPLIDAR_S1_BAUDRATE;
-
104} // namespace Lidar
-
105
-
106// Video encoding
-
107namespace video {
-
115extern const int H264_RF_CONSTANT;
-
116
-
120extern const std::unordered_map<robot::types::CameraID, int> STREAM_RFS;
-
121} // namespace video
-
122
-
126constexpr frozen::unordered_map<robot::types::jointid_t, robot::types::motorid_t, 7>
-
127 JOINT_MOTOR_MAP{{robot::types::jointid_t::armBase, robot::types::motorid_t::armBase},
-
128 {robot::types::jointid_t::shoulder, robot::types::motorid_t::shoulder},
-
129 {robot::types::jointid_t::elbow, robot::types::motorid_t::elbow},
-
130 {robot::types::jointid_t::forearm, robot::types::motorid_t::forearm},
-
131 {robot::types::jointid_t::wrist, robot::types::motorid_t::wrist},
-
132 {robot::types::jointid_t::hand, robot::types::motorid_t::hand},
-
133 {robot::types::jointid_t::activeSuspension,
-
134 robot::types::motorid_t::activeSuspension}};
-
135
-
136// Arm inverse kinematics
-
137namespace arm {
-
141extern const double SAFETY_FACTOR;
-
142
-
146extern const double MAX_EE_VEL;
-
147extern const double IK_SOLVER_THRESH;
-
148
-
149extern const int IK_SOLVER_MAX_ITER;
-
150
-
155extern const std::array<robot::types::jointid_t, 2> IK_MOTOR_JOINTS;
-
156
-
161extern const std::array<robot::types::motorid_t, 2> IK_MOTORS;
-
162
-
166constexpr frozen::unordered_map<robot::types::motorid_t, std::pair<int, int>, IK_MOTORS.size()>
-
167 JOINT_LIMITS{{robot::types::motorid_t::shoulder, {18200, 152500}},
-
168 {robot::types::motorid_t::elbow, {-169100, 0}}};
-
169
-
173constexpr frozen::unordered_map<robot::types::motorid_t, double, IK_MOTORS.size()>
-
174 SEGMENT_LENGTHS{{robot::types::motorid_t::shoulder, 0.3848608},
-
175 {robot::types::motorid_t::elbow, 0.461264}};
-
176} // namespace arm
-
177
-
178extern const double CONTROL_HZ;
-
179} // namespace Constants
+
3#include "utils/time.h"
+
4#include "world_interface/data.h"
+
5
+
6#include <array>
+
7#include <chrono>
+
8#include <cmath>
+
9#include <string>
+
10
+
11#include <frozen/unordered_map.h>
+
12
+
13namespace Constants {
+
14// TODO: make sure these are still accurate with the new arm.
+
15extern const double SHOULDER_LENGTH;
+
16extern const double ELBOW_LENGTH;
+
17
+
21extern const float MDEG_PER_DEG;
+
22
+
23// TODO: tune these drive extern constants
+
24extern const double ROBOT_LENGTH;
+
28extern const double WHEEL_BASE;
+
33extern const double EFF_WHEEL_BASE;
+
34extern const double WHEEL_RADIUS;
+
35extern const double PWM_PER_RAD_PER_SEC;
+
36extern const double MAX_DRIVE_PWM;
+
37
+
44extern const double MAX_WHEEL_VEL;
+
51extern const double MAX_DTHETA;
+
52
+
53// TODO: We need to recalibrate the camera, since we replaced it with a different one.
+
54// TODO: rename cameras (in MC as well) as appropriate
+
55extern const char* MAST_CAMERA_CONFIG_PATH;
+
56extern const robot::types::CameraID MAST_CAMERA_ID;
+
57
+
58extern const char* FOREARM_CAMERA_CONFIG_PATH;
+
59extern const robot::types::CameraID FOREARM_CAMERA_ID;
+
60
+
61extern const char* HAND_CAMERA_CONFIG_PATH;
+
62extern const robot::types::CameraID HAND_CAMERA_ID;
+
63
+
64extern const uint16_t WS_SERVER_PORT;
+
65
+
69extern const char* MC_PROTOCOL_NAME;
+
73extern const char* SIM_PROTOCOL_NAME;
+
77extern const char* DGPS_PROTOCOL_NAME;
+
81extern const char* ARDUPILOT_PROTOCOL_NAME;
+
82
+
83extern const std::chrono::milliseconds JOINT_POWER_REPEAT_PERIOD;
+
84extern const std::chrono::milliseconds ARM_IK_UPDATE_PERIOD;
+
85
+
86namespace Nav {
+
87// Distance (m) we could have traveled forward in the time it takes to turn 1 radian
+
88extern const double RADIAN_COST;
+
89// Planner stays this far away from obstacles (m)
+
90extern const double SAFE_RADIUS;
+
91extern const int MAX_ITERS;
+
92extern const double PLAN_RESOLUTION;
+
93extern const double SEARCH_RADIUS_INCREMENT;
+
94extern const double GPS_WAYPOINT_RADIUS;
+
95extern const double LANDMARK_WAYPOINT_RADIUS;
+
96extern const double EPS;
+
97} // namespace Nav
+
98
+
99// Lidar
+
100namespace Lidar {
+
101extern const std::string RP_PATH;
+
102extern const double MM_PER_M;
+
103extern const uint32_t RPLIDAR_A1_BAUDRATE;
+
104extern const uint32_t RPLIDAR_S1_BAUDRATE;
+
105} // namespace Lidar
+
106
+
107// Video encoding
+
108namespace video {
+
116extern const int H264_RF_CONSTANT;
+
117
+
121extern const std::unordered_map<robot::types::CameraID, int> STREAM_RFS;
+
122} // namespace video
+
123
+
127constexpr frozen::unordered_map<robot::types::jointid_t, robot::types::motorid_t, 7>
+
128 JOINT_MOTOR_MAP{{robot::types::jointid_t::armBase, robot::types::motorid_t::armBase},
+
129 {robot::types::jointid_t::shoulder, robot::types::motorid_t::shoulder},
+
130 {robot::types::jointid_t::elbow, robot::types::motorid_t::elbow},
+
131 {robot::types::jointid_t::forearm, robot::types::motorid_t::forearm},
+
132 {robot::types::jointid_t::wrist, robot::types::motorid_t::wrist},
+
133 {robot::types::jointid_t::hand, robot::types::motorid_t::hand},
+
134 {robot::types::jointid_t::activeSuspension,
+
135 robot::types::motorid_t::activeSuspension}};
+
136
+
137// Arm inverse kinematics
+
138namespace arm {
+
142extern const double SAFETY_FACTOR;
+
143
+
147extern const double MAX_EE_VEL;
+
148extern const double IK_SOLVER_THRESH;
+
149
+
150extern const int IK_SOLVER_MAX_ITER;
+
151
+
156extern const std::array<robot::types::jointid_t, 2> IK_MOTOR_JOINTS;
+
157
+
162extern const std::array<robot::types::motorid_t, 2> IK_MOTORS;
+
163
+
167constexpr frozen::unordered_map<robot::types::motorid_t, std::pair<int, int>, IK_MOTORS.size()>
+
168 JOINT_LIMITS{{robot::types::motorid_t::shoulder, {18200, 152500}},
+
169 {robot::types::motorid_t::elbow, {-169100, 0}}};
+
170
+
174constexpr frozen::unordered_map<robot::types::motorid_t, double, IK_MOTORS.size()>
+
175 SEGMENT_LENGTHS{{robot::types::motorid_t::shoulder, 0.3848608},
+
176 {robot::types::motorid_t::elbow, 0.461264}};
+
177} // namespace arm
+
178
+
179namespace autonomous {
+
180extern const double THETA_KP;
+
181extern const double DRIVE_VEL;
+
182extern const double SLOW_DRIVE_THRESHOLD;
+
183extern const double DONE_THRESHOLD;
+
184// Duration long enough to confirm we are there, not so long that time is wasted
+
185extern const util::dseconds CLOSE_TO_TARGET_DUR_VAL;
+
186} // namespace autonomous
+
187
+
188extern const double CONTROL_HZ;
+
189
+
190} // namespace Constants
diff --git a/DriveToWaypointCommand_8h_source.html b/DriveToWaypointCommand_8h_source.html index e085cc91d..84b6d95d9 100644 --- a/DriveToWaypointCommand_8h_source.html +++ b/DriveToWaypointCommand_8h_source.html @@ -106,8 +106,8 @@
18class DriveToWaypointCommand : CommandBase {
19public:
-
31 DriveToWaypointCommand(const navtypes::point_t& target, double thetaKP, double driveVel,
-
32 double slowDriveVel, double doneThresh,
+
31 DriveToWaypointCommand(const navtypes::point_t& target, double thetaKP, double driveVel,
+
32 double slowDriveThresh, double doneThresh,
33 util::dseconds closeToTargetDur);
34
42 void setState(const navtypes::pose_t& pose, robot::types::datatime_t time);
@@ -121,7 +121,7 @@
62 navtypes::pose_t pose;
63 double thetaKP;
64 double driveVel;
-
65 double slowDriveVel;
+
65 double slowDriveThresh;
66 double doneThresh;
67 bool setStateCalledBeforeOutput;
68 util::dseconds closeToTargetDur;
@@ -138,9 +138,9 @@
commands::CommandBase
Definition CommandBase.h:10
commands::DriveToWaypointCommand
Provides robot drive velocity commands to navigate the robot to a given waypoint given the velocity p...
Definition DriveToWaypointCommand.h:18
commands::DriveToWaypointCommand::setState
void setState(const navtypes::pose_t &pose, robot::types::datatime_t time)
Must be called before getOutput() for each iteration.
Definition DriveToWaypointCommand.cpp:19
-
commands::DriveToWaypointCommand::isDone
bool isDone() override
Returns whether the DriveToWaypointCommand has finished its navigation task.
Definition DriveToWaypointCommand.cpp:45
-
commands::DriveToWaypointCommand::DriveToWaypointCommand
DriveToWaypointCommand(const navtypes::point_t &target, double thetaKP, double driveVel, double slowDriveVel, double doneThresh, util::dseconds closeToTargetDur)
Creates a new DriveToWaypointCommand with the specified targeting information.
Definition DriveToWaypointCommand.cpp:11
+
commands::DriveToWaypointCommand::isDone
bool isDone() override
Returns whether the DriveToWaypointCommand has finished its navigation task.
Definition DriveToWaypointCommand.cpp:47
commands::DriveToWaypointCommand::getOutput
command_t getOutput() override
Gets the angular velocity and forward speed to run the robot at in order to navigate robot to target.
Definition DriveToWaypointCommand.cpp:26
+
commands::DriveToWaypointCommand::DriveToWaypointCommand
DriveToWaypointCommand(const navtypes::point_t &target, double thetaKP, double driveVel, double slowDriveThresh, double doneThresh, util::dseconds closeToTargetDur)
Creates a new DriveToWaypointCommand with the specified targeting information.
Definition DriveToWaypointCommand.cpp:11
commands::command_t
Definition CommandBase.h:5
diff --git a/MissionControlMessages_8h_source.html b/MissionControlMessages_8h_source.html index 0a122308d..ec732e9b3 100644 --- a/MissionControlMessages_8h_source.html +++ b/MissionControlMessages_8h_source.html @@ -107,16 +107,17 @@
14constexpr const char* JOINT_POSITION_REQ_TYPE = "jointPositionRequest";
15constexpr const char* CAMERA_STREAM_OPEN_REQ_TYPE = "cameraStreamOpenRequest";
16constexpr const char* CAMERA_STREAM_CLOSE_REQ_TYPE = "cameraStreamCloseRequest";
-
17
-
18// report keys
-
19constexpr const char* MOTOR_STATUS_REP_TYPE = "motorStatusReport";
-
20constexpr const char* CAMERA_STREAM_REP_TYPE = "cameraStreamReport";
-
21constexpr const char* MOUNTED_PERIPHERAL_REP_TYPE = "mountedPeripheralReport";
-
22constexpr const char* JOINT_POSITION_REP_TYPE = "jointPositionReport";
-
23constexpr const char* ROVER_POS_REP_TYPE = "roverPositionReport";
-
24constexpr const char* ARM_IK_ENABLED_REP_TYPE = "armIKEnabledReport";
-
25
-
26} // namespace net::mc
+
17constexpr const char* WAYPOINT_NAV_REQ_TYPE = "waypointNavRequest";
+
18
+
19// report keys
+
20constexpr const char* MOTOR_STATUS_REP_TYPE = "motorStatusReport";
+
21constexpr const char* CAMERA_STREAM_REP_TYPE = "cameraStreamReport";
+
22constexpr const char* MOUNTED_PERIPHERAL_REP_TYPE = "mountedPeripheralReport";
+
23constexpr const char* JOINT_POSITION_REP_TYPE = "jointPositionReport";
+
24constexpr const char* ROVER_POS_REP_TYPE = "roverPositionReport";
+
25constexpr const char* ARM_IK_ENABLED_REP_TYPE = "armIKEnabledReport";
+
26
+
27} // namespace net::mc
diff --git a/MissionControlProtocol_8h_source.html b/MissionControlProtocol_8h_source.html index 06783a399..c5424a742 100644 --- a/MissionControlProtocol_8h_source.html +++ b/MissionControlProtocol_8h_source.html @@ -93,65 +93,68 @@
1#pragma once
2
-
3#include "../utils/scheduler.h"
-
4#include "../video/H264Encoder.h"
-
5#include "../world_interface/world_interface.h"
-
6#include "MissionControlTasks.h"
-
7#include "websocket/WebSocketProtocol.h"
-
8#include "websocket/WebSocketServer.h"
-
9
-
10#include <atomic>
-
11#include <condition_variable>
-
12#include <memory>
-
13#include <optional>
-
14#include <shared_mutex>
-
15#include <thread>
-
16#include <unordered_map>
-
17#include <unordered_set>
-
18
-
19namespace net {
-
20namespace mc {
-
21
-
22using json = nlohmann::json;
-
23using robot::types::CameraID;
-
24using robot::types::jointid_t;
-
25using websocket::SingleClientWSServer;
-
26using websocket::WebSocketProtocol;
-
27
-
-
28class MissionControlProtocol : public WebSocketProtocol { // TODO: add documentation
-
29public:
-
30 MissionControlProtocol(SingleClientWSServer& server);
-
31 ~MissionControlProtocol();
-
32 MissionControlProtocol(const MissionControlProtocol& other) = delete;
-
33 MissionControlProtocol& operator=(const MissionControlProtocol& other) = delete;
-
34
-
35private:
-
36 SingleClientWSServer& _server;
-
37 tasks::PowerRepeatTask _power_repeat_task;
-
38 tasks::CameraStreamTask _camera_stream_task;
-
39 tasks::TelemReportTask _telem_report_task;
-
40 tasks::ArmIKTask _arm_ik_task;
-
41
-
42 void handleEmergencyStopRequest(const json& j);
-
43 void handleOperationModeRequest(const json& j);
-
44 void handleCameraStreamOpenRequest(const json& j);
-
45 void handleCameraStreamCloseRequest(const json& j);
-
46 void handleJointPowerRequest(const json& j);
-
47 void handleDriveRequest(const json& j);
-
48 void handleRequestArmIKEnabled(const json& j);
-
49 void sendArmIKEnabledReport(bool enabled);
-
50 void handleConnection();
-
51 void handleHeartbeatTimedOut();
-
52 void stopAndShutdownPowerRepeat(bool sendDisableIK);
-
53 void setArmIKEnabled(bool enabled, bool sendReport = true);
-
54 void setRequestedJointPower(jointid_t joint, double power);
-
55 void setRequestedCmdVel(double dtheta, double dx);
-
56};
+
3#include "../autonomous/AutonomousTask.h"
+
4#include "../utils/scheduler.h"
+
5#include "../video/H264Encoder.h"
+
6#include "../world_interface/world_interface.h"
+
7#include "MissionControlTasks.h"
+
8#include "websocket/WebSocketProtocol.h"
+
9#include "websocket/WebSocketServer.h"
+
10
+
11#include <atomic>
+
12#include <condition_variable>
+
13#include <memory>
+
14#include <optional>
+
15#include <shared_mutex>
+
16#include <thread>
+
17#include <unordered_map>
+
18#include <unordered_set>
+
19
+
20namespace net {
+
21namespace mc {
+
22
+
23using json = nlohmann::json;
+
24using robot::types::CameraID;
+
25using robot::types::jointid_t;
+
26using websocket::SingleClientWSServer;
+
27using websocket::WebSocketProtocol;
+
28
+
+
29class MissionControlProtocol : public WebSocketProtocol { // TODO: add documentation
+
30public:
+
31 MissionControlProtocol(SingleClientWSServer& server);
+
32 ~MissionControlProtocol();
+
33 MissionControlProtocol(const MissionControlProtocol& other) = delete;
+
34 MissionControlProtocol& operator=(const MissionControlProtocol& other) = delete;
+
35
+
36private:
+
37 SingleClientWSServer& _server;
+
38 tasks::PowerRepeatTask _power_repeat_task;
+
39 tasks::CameraStreamTask _camera_stream_task;
+
40 tasks::TelemReportTask _telem_report_task;
+
41 tasks::ArmIKTask _arm_ik_task;
+
42 autonomous::AutonomousTask _autonomous_task;
+
43
+
44 void handleEmergencyStopRequest(const json& j);
+
45 void handleOperationModeRequest(const json& j);
+
46 void handleCameraStreamOpenRequest(const json& j);
+
47 void handleCameraStreamCloseRequest(const json& j);
+
48 void handleJointPowerRequest(const json& j);
+
49 void handleWaypointNavRequest(const json& j);
+
50 void handleDriveRequest(const json& j);
+
51 void handleRequestArmIKEnabled(const json& j);
+
52 void sendArmIKEnabledReport(bool enabled);
+
53 void handleConnection();
+
54 void handleHeartbeatTimedOut();
+
55 void stopAndShutdownPowerRepeat(bool sendDisableIK);
+
56 void setArmIKEnabled(bool enabled, bool sendReport = true);
+
57 void setRequestedJointPower(jointid_t joint, double power);
+
58 void setRequestedCmdVel(double dtheta, double dx);
+
59};
-
57
-
58}; // namespace mc
-
59} // namespace net
+
60
+
61}; // namespace mc
+
62} // namespace net
@@ -161,7 +164,8 @@
power
_Tp power(_Tp __x, _Integer __n, _MonoidOperation __monoid_op)
-
net::mc::MissionControlProtocol
Definition MissionControlProtocol.h:28
+
autonomous::AutonomousTask
Definition AutonomousTask.h:15
+
net::mc::MissionControlProtocol
Definition MissionControlProtocol.h:29
net::mc::tasks::ArmIKTask
This task sets the arm joint positions to track the current IK command.
Definition MissionControlTasks.h:101
net::mc::tasks::CameraStreamTask
This task is responsible for sending the camera streams to Mission Control over websocket.
Definition MissionControlTasks.h:53
net::mc::tasks::PowerRepeatTask
This task is responsible for periodically resending setMotorPower commands to the motors.
Definition MissionControlTasks.h:20
diff --git a/annotated.html b/annotated.html index 0e0897400..42c9c2a77 100644 --- a/annotated.html +++ b/annotated.html @@ -89,96 +89,98 @@  CMarkerPatternA class to represent the pattern that may appear on a physical AR tag, NOT a physical instance of a tag itself; each individual instance of the pattern as it appears in the world is represented by an instance of the Tag class, and there may be multiple Tags corresponding to the same MarkerPattern  CMarkerSetRepresents a "set" of markers used for a competition, containing the markers that should be recognized for that competition and also some other information like the physical (real-world) size of the tags  CTagClass representing an AR tag detected in an image - ▼NcamNamespace for camera access system - CCameraRepresents a camera on the rover, from which a video feed can be retrieved - CCameraConfigA struct that represents the information outlined in Camera Configuration - CCameraParamsRepresents a set of intrinsic camera parameters - Cinvalid_camera_configException for errors in the camera configuration - ▼NcanUtilities for interacting with CAN devices - ▼NmotorUtilities for interacting with motor boards over a CAN interface - Csensor_tThe supported motor position sensors - Cpackettype_tThe types of CAN packets that we recognize - ▼Ncommands - Ccommand_t - CCommandBase - CDriveToWaypointCommandProvides robot drive velocity commands to navigate the robot to a given waypoint given the velocity parameters to drive the robot at, the proportional factor to steer the robot with and the 2D Cartesian position of the target in the world reference frame - ▼Ncontrol - CJacobianPosControllerThis class controls the position of a multidimensional mechanism with a trapezoidal velocity profile using the jacobian of the kinematics - CPIDControllerA PID controller for multiple independent dimensions - CPIDGainsA set of PID gains - CPlanarArmControllerController to move planar arm to a target end effector position - CSingleDimTrapezoidalVelocityProfileTrapezoidal velocity profile in a single dimension - CTrapezoidalVelocityProfileTrapezoidal velocity profile in multiple dimensions - ▼Nfilters - ▼NstatespaceCollection of utility methods for use with state space applications - CNoiseCovMatRepresents a square noise covariance matrix - CNoiseCovMat<-1, -1, -1 >Represents a square noise covariance matrix - CExtendedKalmanFilterImplements a discrete-time EKF - CKalmanFilterImplements a Kalman Filter - CKalmanFilterBaseBase class for Kalman Filters - CMultiSensorEKF - COutputRepresent an output for a system - CRollingAvgFilterImplements a rolling average filter of the specified type - ▼Nh264encoder - CEncoder - CEncoderImpl - Cx264_nal_t_simple - ▼Nkinematics - CArmKinematicsA class that combines the forward and inverse kinematics of an arm - CDiffDriveKinematicsRepresents the kinematics of a differential drive - CDiffWristKinematicsRepresents the kinematics of a differential wrist - CFabrikSolver2DImplementation of the FABRIK algorithm, in the special case of 2 dimensions - CForwardArmKinematicsA class that calculates the forward kinematics of an arm - Cgearpos_tRepresents the positions (or power) of the two motor-driven gears in the differential wrist - CInverseArmKinematicsA class that calculates the inverse kinematics of an arm - Cjointpos_tRepresents the position (or power) of the differential wrist joint - CPlanarArmFKKinematics object for a sequence of arm segments in a 2d plane - CSwerveDriveKinematicsCalculates forward and inverse drivebase kinematics for a 4-wheel swerve drivebase with specifiable width and length - Cswervewheelvel_tRepresents robot wheel velocities in robot reference frame, in polar form (wheel speed and angle) - Cwheelvel_t - ▼Nnavtypes - Ceulerangles_t - Cgpscoords_tRepresents a GPS coordinate in degrees - ▼Nnet - ▼Nardupilot - CArduPilotProtocol - ▼Nmc - ▼Ntasks - CArmIKTaskThis task sets the arm joint positions to track the current IK command - CCameraStreamTaskThis task is responsible for sending the camera streams to Mission Control over websocket - CPowerRepeatTaskThis task is responsible for periodically resending setMotorPower commands to the motors - CTelemReportTaskThis task periodically sends robot telemetry data to Mission Control - CMissionControlProtocol - ▼Nwebsocket - CSingleClientWSServerA WebSocket server class that only accepts a single client at a time to each endpoint served by this server - CWebSocketProtocolDefines a protocol which will be served at an endpoint of a server - ▼NrobotCollection of functions for manipulating a motor - ▼NtypesTypes for use in the world interface - CDataPointRepresents data measured using a sensor at a given time - CLimitSwitchDataA class that represents limit switches from a specific motor - Cbase_motorAn abstract motor class - Ccan_motor - Cencparams_t - Cpidcoef_tA struct containing a set of PID coefficients - Cpotparams_tRepresents parameters defining a potentiometer scale - Csim_motor - ▼Nstd - Chash< std::pair< T1, T2 > > - ▼NutilA collection of utility functions and classes with common use-cases - ▼Nimpl - CNotifiable - CAsyncTaskAn abstract class that can be overridden to run long-running tasks and encapsulate task-related data - ClatchImplementation of a countdown latch for threading synchronization - CPeriodicSchedulerUses a single thread to periodically invoke callbacks at a given frequency - CPeriodicTaskImplements a task that executes a function periodically - CRAIIHelperA helper class for executing a function when leaving a scope, in RAII-style - CScopedTimerA utility class that helps with timing - CWatchdogImplements a thread-safe watchdog - ▼Nvideo - CH264EncoderThis class encodes OpenCV frames into encoded H264 data that can be sent to an H264 decoder, like JMuxer - CGPSDatumA GPS datum that specifies the reference ellipsoid for use in GPS calculations - CGPSToMetersConverterA class used to convert gps coordinates to coordinates on a flat xy-plane, and vice versa - CJacobianVelControllerThis class controls the velocity of a multidimensional mechanism by commanding its position using the jacobian of the kinematics + ▼Nautonomous + CAutonomousTask + ▼NcamNamespace for camera access system + CCameraRepresents a camera on the rover, from which a video feed can be retrieved + CCameraConfigA struct that represents the information outlined in Camera Configuration + CCameraParamsRepresents a set of intrinsic camera parameters + Cinvalid_camera_configException for errors in the camera configuration + ▼NcanUtilities for interacting with CAN devices + ▼NmotorUtilities for interacting with motor boards over a CAN interface + Csensor_tThe supported motor position sensors + Cpackettype_tThe types of CAN packets that we recognize + ▼Ncommands + Ccommand_t + CCommandBase + CDriveToWaypointCommandProvides robot drive velocity commands to navigate the robot to a given waypoint given the velocity parameters to drive the robot at, the proportional factor to steer the robot with and the 2D Cartesian position of the target in the world reference frame + ▼Ncontrol + CJacobianPosControllerThis class controls the position of a multidimensional mechanism with a trapezoidal velocity profile using the jacobian of the kinematics + CPIDControllerA PID controller for multiple independent dimensions + CPIDGainsA set of PID gains + CPlanarArmControllerController to move planar arm to a target end effector position + CSingleDimTrapezoidalVelocityProfileTrapezoidal velocity profile in a single dimension + CTrapezoidalVelocityProfileTrapezoidal velocity profile in multiple dimensions + ▼Nfilters + ▼NstatespaceCollection of utility methods for use with state space applications + CNoiseCovMatRepresents a square noise covariance matrix + CNoiseCovMat<-1, -1, -1 >Represents a square noise covariance matrix + CExtendedKalmanFilterImplements a discrete-time EKF + CKalmanFilterImplements a Kalman Filter + CKalmanFilterBaseBase class for Kalman Filters + CMultiSensorEKF + COutputRepresent an output for a system + CRollingAvgFilterImplements a rolling average filter of the specified type + ▼Nh264encoder + CEncoder + CEncoderImpl + Cx264_nal_t_simple + ▼Nkinematics + CArmKinematicsA class that combines the forward and inverse kinematics of an arm + CDiffDriveKinematicsRepresents the kinematics of a differential drive + CDiffWristKinematicsRepresents the kinematics of a differential wrist + CFabrikSolver2DImplementation of the FABRIK algorithm, in the special case of 2 dimensions + CForwardArmKinematicsA class that calculates the forward kinematics of an arm + Cgearpos_tRepresents the positions (or power) of the two motor-driven gears in the differential wrist + CInverseArmKinematicsA class that calculates the inverse kinematics of an arm + Cjointpos_tRepresents the position (or power) of the differential wrist joint + CPlanarArmFKKinematics object for a sequence of arm segments in a 2d plane + CSwerveDriveKinematicsCalculates forward and inverse drivebase kinematics for a 4-wheel swerve drivebase with specifiable width and length + Cswervewheelvel_tRepresents robot wheel velocities in robot reference frame, in polar form (wheel speed and angle) + Cwheelvel_t + ▼Nnavtypes + Ceulerangles_t + Cgpscoords_tRepresents a GPS coordinate in degrees + ▼Nnet + ▼Nardupilot + CArduPilotProtocol + ▼Nmc + ▼Ntasks + CArmIKTaskThis task sets the arm joint positions to track the current IK command + CCameraStreamTaskThis task is responsible for sending the camera streams to Mission Control over websocket + CPowerRepeatTaskThis task is responsible for periodically resending setMotorPower commands to the motors + CTelemReportTaskThis task periodically sends robot telemetry data to Mission Control + CMissionControlProtocol + ▼Nwebsocket + CSingleClientWSServerA WebSocket server class that only accepts a single client at a time to each endpoint served by this server + CWebSocketProtocolDefines a protocol which will be served at an endpoint of a server + ▼NrobotCollection of functions for manipulating a motor + ▼NtypesTypes for use in the world interface + CDataPointRepresents data measured using a sensor at a given time + CLimitSwitchDataA class that represents limit switches from a specific motor + Cbase_motorAn abstract motor class + Ccan_motor + Cencparams_t + Cpidcoef_tA struct containing a set of PID coefficients + Cpotparams_tRepresents parameters defining a potentiometer scale + Csim_motor + ▼Nstd + Chash< std::pair< T1, T2 > > + ▼NutilA collection of utility functions and classes with common use-cases + ▼Nimpl + CNotifiable + CAsyncTaskAn abstract class that can be overridden to run long-running tasks and encapsulate task-related data + ClatchImplementation of a countdown latch for threading synchronization + CPeriodicSchedulerUses a single thread to periodically invoke callbacks at a given frequency + CPeriodicTaskImplements a task that executes a function periodically + CRAIIHelperA helper class for executing a function when leaving a scope, in RAII-style + CScopedTimerA utility class that helps with timing + CWatchdogImplements a thread-safe watchdog + ▼Nvideo + CH264EncoderThis class encodes OpenCV frames into encoded H264 data that can be sent to an H264 decoder, like JMuxer + CGPSDatumA GPS datum that specifies the reference ellipsoid for use in GPS calculations + CGPSToMetersConverterA class used to convert gps coordinates to coordinates on a flat xy-plane, and vice versa + CJacobianVelControllerThis class controls the velocity of a multidimensional mechanism by commanding its position using the jacobian of the kinematics
diff --git a/classautonomous_1_1AutonomousTask-members.html b/classautonomous_1_1AutonomousTask-members.html new file mode 100644 index 000000000..1d3f98a7f --- /dev/null +++ b/classautonomous_1_1AutonomousTask-members.html @@ -0,0 +1,102 @@ + + + + + + + +Resurgence (PY2022): Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
Resurgence (PY2022) +
+
Codebase for the Husky Robotics 2021-2022 rover Resurgence
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autonomous::AutonomousTask Member List
+
+
+ +

This is the complete list of members for autonomous::AutonomousTask, including all inherited members.

+ + + + + +
AutonomousTask() (defined in autonomous::AutonomousTask)autonomous::AutonomousTask
kill() (defined in autonomous::AutonomousTask)autonomous::AutonomousTask
start(const navtypes::point_t &) (defined in autonomous::AutonomousTask)autonomous::AutonomousTask
~AutonomousTask() (defined in autonomous::AutonomousTask)autonomous::AutonomousTask
+ +
+Generated by doxygen 1.10.0 +
+ + diff --git a/classautonomous_1_1AutonomousTask.html b/classautonomous_1_1AutonomousTask.html new file mode 100644 index 000000000..f81124154 --- /dev/null +++ b/classautonomous_1_1AutonomousTask.html @@ -0,0 +1,112 @@ + + + + + + + +Resurgence (PY2022): autonomous::AutonomousTask Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Resurgence (PY2022) +
+
Codebase for the Husky Robotics 2021-2022 rover Resurgence
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+Public Member Functions | +List of all members
+
autonomous::AutonomousTask Class Reference
+
+
+ + + + + + +

+Public Member Functions

+void start (const navtypes::point_t &)
 
+void kill ()
 
+
The documentation for this class was generated from the following files: +
+ +
+Generated by doxygen 1.10.0 +
+ + diff --git a/classcommands_1_1DriveToWaypointCommand-members.html b/classcommands_1_1DriveToWaypointCommand-members.html index 01fef621b..117c6d635 100644 --- a/classcommands_1_1DriveToWaypointCommand-members.html +++ b/classcommands_1_1DriveToWaypointCommand-members.html @@ -89,7 +89,7 @@

This is the complete list of members for commands::DriveToWaypointCommand, including all inherited members.

- + diff --git a/classcommands_1_1DriveToWaypointCommand.html b/classcommands_1_1DriveToWaypointCommand.html index 96d876e22..daeec12c4 100644 --- a/classcommands_1_1DriveToWaypointCommand.html +++ b/classcommands_1_1DriveToWaypointCommand.html @@ -117,9 +117,9 @@
DriveToWaypointCommand(const navtypes::point_t &target, double thetaKP, double driveVel, double slowDriveVel, double doneThresh, util::dseconds closeToTargetDur)commands::DriveToWaypointCommand
DriveToWaypointCommand(const navtypes::point_t &target, double thetaKP, double driveVel, double slowDriveThresh, double doneThresh, util::dseconds closeToTargetDur)commands::DriveToWaypointCommand
getOutput() overridecommands::DriveToWaypointCommandvirtual
isDone() overridecommands::DriveToWaypointCommandvirtual
setState(const navtypes::pose_t &pose, robot::types::datatime_t time)commands::DriveToWaypointCommand
- - - + + + @@ -133,8 +133,8 @@

Detailed Description

Provides robot drive velocity commands to navigate the robot to a given waypoint given the velocity parameters to drive the robot at, the proportional factor to steer the robot with and the 2D Cartesian position of the target in the world reference frame.

Constructor & Destructor Documentation

- -

◆ DriveToWaypointCommand()

+ +

◆ DriveToWaypointCommand()

@@ -157,7 +157,7 @@

- + @@ -175,12 +175,12 @@

DriveToWaypointCommand with the specified targeting information.

Parameters

Public Member Functions

 DriveToWaypointCommand (const navtypes::point_t &target, double thetaKP, double driveVel, double slowDriveVel, double doneThresh, util::dseconds closeToTargetDur)
 Creates a new DriveToWaypointCommand with the specified targeting information.
 
 DriveToWaypointCommand (const navtypes::point_t &target, double thetaKP, double driveVel, double slowDriveThresh, double doneThresh, util::dseconds closeToTargetDur)
 Creates a new DriveToWaypointCommand with the specified targeting information.
 
void setState (const navtypes::pose_t &pose, robot::types::datatime_t time)
 Must be called before getOutput() for each iteration.
 
double slowDriveVel, double slowDriveThresh,
- - - - - - + + + + + +
target,theposition of the target in world coordinates.
thetaKP,thescaling factor to use for robot steering proportional control.
driveVel,thespeed to drive the robot at.
slowDriveVel,theslower speed to drive the robot at when near the target.
doneThresh,thethreshold for minimum robot-target distance to complete command.
closeToTargetDurVal,theduration within doneThresh after which robot navigation is considered done, seconds.
targetthe position of the target in world coordinates.
thetaKPthe scaling factor to use for robot steering proportional control.
driveVelthe speed to drive the robot at.
slowDriveThreshthe distance at which the robot will start slowing down.
doneThreshthe threshold for minimum robot-target distance to complete command.
closeToTargetDurValthe duration within doneThresh after which robot navigation is considered done, seconds.
diff --git a/classes.html b/classes.html index 4222a5994..fe1255c88 100644 --- a/classes.html +++ b/classes.html @@ -86,7 +86,7 @@
A
-
ArduPilotProtocol (net::ardupilot)
ArmIKTask (net::mc::tasks)
ArmKinematics (kinematics)
AsyncTask (util)
+
ArduPilotProtocol (net::ardupilot)
ArmIKTask (net::mc::tasks)
ArmKinematics (kinematics)
AsyncTask (util)
AutonomousTask (autonomous)
B
base_motor (robot)
diff --git a/dir_164724f2049c96ee2d1b69e829ddec4e.html b/dir_164724f2049c96ee2d1b69e829ddec4e.html new file mode 100644 index 000000000..1bbe66b41 --- /dev/null +++ b/dir_164724f2049c96ee2d1b69e829ddec4e.html @@ -0,0 +1,110 @@ + + + + + + + +Resurgence (PY2022): src/autonomous Directory Reference + + + + + + + + + + + + + +
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Resurgence (PY2022) +
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Codebase for the Husky Robotics 2021-2022 rover Resurgence
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autonomous Directory Reference
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+Directory dependency graph for autonomous:
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src/autonomous
+ + + + +
+ + + + +

+Files

 AutonomousTask.h
 
+
+ +
+Generated by doxygen 1.10.0 +
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diff --git a/functions_d.html b/functions_d.html index 577c3e1a7..e53b9a717 100644 --- a/functions_d.html +++ b/functions_d.html @@ -86,7 +86,7 @@

- d -

diff --git a/functions_func_d.html b/functions_func_d.html index 1133a1477..415a1774b 100644 --- a/functions_func_d.html +++ b/functions_func_d.html @@ -85,7 +85,7 @@

- d -

diff --git a/hierarchy.html b/hierarchy.html index 5fe24f420..e3aec824a 100644 --- a/hierarchy.html +++ b/hierarchy.html @@ -87,93 +87,94 @@ This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 1234]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 Cnet::ardupilot::ArduPilotProtocol
 ▼Crobot::base_motorAn abstract motor class
 Crobot::can_motor
 Crobot::sim_motor
 Ccam::CameraRepresents a camera on the rover, from which a video feed can be retrieved
 Ccam::CameraConfigA struct that represents the information outlined in Camera Configuration
 Ccam::CameraParamsRepresents a set of intrinsic camera parameters
 Ccommands::command_t
 ▼Ccommands::CommandBase
 Ccommands::DriveToWaypointCommandProvides robot drive velocity commands to navigate the robot to a given waypoint given the velocity parameters to drive the robot at, the proportional factor to steer the robot with and the 2D Cartesian position of the target in the world reference frame
 Crobot::types::DataPoint< T >Represents data measured using a sensor at a given time
 Crobot::types::DataPoint< Eigen::Quaternion >
 Crobot::types::DataPoint< navtypes::gpscoords_t >
 CAR::Detector
 Ckinematics::DiffDriveKinematicsRepresents the kinematics of a differential drive
 Ckinematics::DiffWristKinematicsRepresents the kinematics of a differential wrist
 Ch264encoder::Encoder
 Ch264encoder::EncoderImpl
 Crobot::encparams_t
 Cnavtypes::eulerangles_t
 ▼Cstd::exception [external]
 Ccam::invalid_camera_configException for errors in the camera configuration
 ▼Ckinematics::ForwardArmKinematics< D, N >A class that calculates the forward kinematics of an arm
 Ckinematics::ArmKinematics< 2, N >
 Ckinematics::ArmKinematics< D, N >A class that combines the forward and inverse kinematics of an arm
 ▼Ckinematics::ForwardArmKinematics< 2, N >
 Ckinematics::PlanarArmFK< N >Kinematics object for a sequence of arm segments in a 2d plane
 Ckinematics::gearpos_tRepresents the positions (or power) of the two motor-driven gears in the differential wrist
 Cnavtypes::gpscoords_tRepresents a GPS coordinate in degrees
 CGPSDatumA GPS datum that specifies the reference ellipsoid for use in GPS calculations
 CGPSToMetersConverterA class used to convert gps coordinates to coordinates on a flat xy-plane, and vice versa
 Cvideo::H264EncoderThis class encodes OpenCV frames into encoded H264 data that can be sent to an H264 decoder, like JMuxer
 Cstd::hash< std::pair< T1, T2 > >
 ▼Ckinematics::InverseArmKinematics< D, N >A class that calculates the inverse kinematics of an arm
 Ckinematics::ArmKinematics< 2, N >
 Ckinematics::ArmKinematics< D, N >A class that combines the forward and inverse kinematics of an arm
 ▼Ckinematics::InverseArmKinematics< 2, N >
 Ckinematics::FabrikSolver2D< N >Implementation of the FABRIK algorithm, in the special case of 2 dimensions
 Ccontrol::JacobianPosController< outputDim, inputDim >This class controls the position of a multidimensional mechanism with a trapezoidal velocity profile using the jacobian of the kinematics
 CJacobianVelController< outputDim, inputDim >This class controls the velocity of a multidimensional mechanism by commanding its position using the jacobian of the kinematics
 Ckinematics::jointpos_tRepresents the position (or power) of the differential wrist joint
 ▼Cfilters::KalmanFilterBase< stateDim, inputDim >Base class for Kalman Filters
 Cfilters::ExtendedKalmanFilter< stateDim, inputDim, outputDim, processNoiseDim, outputNoiseDim >Implements a discrete-time EKF
 Cfilters::KalmanFilter< stateDim, inputDim, outputDim >Implements a Kalman Filter
 Cfilters::MultiSensorEKF< stateDim, inputDim, processNoiseDim, numOutputs >
 Cutil::latchImplementation of a countdown latch for threading synchronization
 Crobot::types::LimitSwitchDataA class that represents limit switches from a specific motor
 CAR::MarkerPatternA class to represent the pattern that may appear on a physical AR tag, NOT a physical instance of a tag itself; each individual instance of the pattern as it appears in the world is represented by an instance of the Tag class, and there may be multiple Tags corresponding to the same MarkerPattern
 CAR::MarkerSetRepresents a "set" of markers used for a competition, containing the markers that should be recognized for that competition and also some other information like the physical (real-world) size of the tags
 Cfilters::statespace::NoiseCovMat< stateDim, size, paramSize >Represents a square noise covariance matrix
 Cfilters::statespace::NoiseCovMat< stateDim, outputNoiseDim, outputDim >
 Cfilters::statespace::NoiseCovMat< stateDim, processNoiseDim, inputDim >
 Cfilters::statespace::NoiseCovMat<-1, -1, -1 >Represents a square noise covariance matrix
 ▼Cutil::impl::Notifiable
 Cutil::AsyncTask< std::chrono::steady_clock >
 Cutil::PeriodicScheduler< std::chrono::steady_clock >
 ▼Cutil::AsyncTask< Clock >An abstract class that can be overridden to run long-running tasks and encapsulate task-related data
 Cnet::mc::tasks::CameraStreamTaskThis task is responsible for sending the camera streams to Mission Control over websocket
 ▼Cutil::PeriodicTask< Clock >Implements a task that executes a function periodically
 Cnet::mc::tasks::ArmIKTaskThis task sets the arm joint positions to track the current IK command
 Cnet::mc::tasks::PowerRepeatTaskThis task is responsible for periodically resending setMotorPower commands to the motors
 Cnet::mc::tasks::TelemReportTaskThis task periodically sends robot telemetry data to Mission Control
 Cutil::PeriodicScheduler< Clock >Uses a single thread to periodically invoke callbacks at a given frequency
 Cutil::PeriodicTask< Clock >Implements a task that executes a function periodically
 Cutil::Watchdog< Clock >Implements a thread-safe watchdog
 Cfilters::OutputRepresent an output for a system
 Ccan::packettype_tThe types of CAN packets that we recognize
 Crobot::pidcoef_tA struct containing a set of PID coefficients
 Ccontrol::PIDController< dim >A PID controller for multiple independent dimensions
 Ccontrol::PIDGainsA set of PID gains
 Ccontrol::PlanarArmController< N >Controller to move planar arm to a target end effector position
 Crobot::potparams_tRepresents parameters defining a potentiometer scale
 Cutil::RAIIHelperA helper class for executing a function when leaving a scope, in RAII-style
 Cfilters::RollingAvgFilter< T >Implements a rolling average filter of the specified type
 Cutil::ScopedTimerA utility class that helps with timing
 Ccan::motor::sensor_tThe supported motor position sensors
 Cnet::websocket::SingleClientWSServerA WebSocket server class that only accepts a single client at a time to each endpoint served by this server
 Ccontrol::SingleDimTrapezoidalVelocityProfileTrapezoidal velocity profile in a single dimension
 Ckinematics::SwerveDriveKinematicsCalculates forward and inverse drivebase kinematics for a 4-wheel swerve drivebase with specifiable width and length
 Ckinematics::swervewheelvel_tRepresents robot wheel velocities in robot reference frame, in polar form (wheel speed and angle)
 CAR::TagClass representing an AR tag detected in an image
 Ccontrol::TrapezoidalVelocityProfile< dim >Trapezoidal velocity profile in multiple dimensions
 Ccontrol::TrapezoidalVelocityProfile< 1 >
 Ccontrol::TrapezoidalVelocityProfile< outputDim >
 ▼Cnet::websocket::WebSocketProtocolDefines a protocol which will be served at an endpoint of a server
 Cnet::mc::MissionControlProtocol
 Ckinematics::wheelvel_t
 Ch264encoder::x264_nal_t_simple
 Cautonomous::AutonomousTask
 ▼Crobot::base_motorAn abstract motor class
 Crobot::can_motor
 Crobot::sim_motor
 Ccam::CameraRepresents a camera on the rover, from which a video feed can be retrieved
 Ccam::CameraConfigA struct that represents the information outlined in Camera Configuration
 Ccam::CameraParamsRepresents a set of intrinsic camera parameters
 Ccommands::command_t
 ▼Ccommands::CommandBase
 Ccommands::DriveToWaypointCommandProvides robot drive velocity commands to navigate the robot to a given waypoint given the velocity parameters to drive the robot at, the proportional factor to steer the robot with and the 2D Cartesian position of the target in the world reference frame
 Crobot::types::DataPoint< T >Represents data measured using a sensor at a given time
 Crobot::types::DataPoint< Eigen::Quaternion >
 Crobot::types::DataPoint< navtypes::gpscoords_t >
 CAR::Detector
 Ckinematics::DiffDriveKinematicsRepresents the kinematics of a differential drive
 Ckinematics::DiffWristKinematicsRepresents the kinematics of a differential wrist
 Ch264encoder::Encoder
 Ch264encoder::EncoderImpl
 Crobot::encparams_t
 Cnavtypes::eulerangles_t
 ▼Cstd::exception [external]
 Ccam::invalid_camera_configException for errors in the camera configuration
 ▼Ckinematics::ForwardArmKinematics< D, N >A class that calculates the forward kinematics of an arm
 Ckinematics::ArmKinematics< 2, N >
 Ckinematics::ArmKinematics< D, N >A class that combines the forward and inverse kinematics of an arm
 ▼Ckinematics::ForwardArmKinematics< 2, N >
 Ckinematics::PlanarArmFK< N >Kinematics object for a sequence of arm segments in a 2d plane
 Ckinematics::gearpos_tRepresents the positions (or power) of the two motor-driven gears in the differential wrist
 Cnavtypes::gpscoords_tRepresents a GPS coordinate in degrees
 CGPSDatumA GPS datum that specifies the reference ellipsoid for use in GPS calculations
 CGPSToMetersConverterA class used to convert gps coordinates to coordinates on a flat xy-plane, and vice versa
 Cvideo::H264EncoderThis class encodes OpenCV frames into encoded H264 data that can be sent to an H264 decoder, like JMuxer
 Cstd::hash< std::pair< T1, T2 > >
 ▼Ckinematics::InverseArmKinematics< D, N >A class that calculates the inverse kinematics of an arm
 Ckinematics::ArmKinematics< 2, N >
 Ckinematics::ArmKinematics< D, N >A class that combines the forward and inverse kinematics of an arm
 ▼Ckinematics::InverseArmKinematics< 2, N >
 Ckinematics::FabrikSolver2D< N >Implementation of the FABRIK algorithm, in the special case of 2 dimensions
 Ccontrol::JacobianPosController< outputDim, inputDim >This class controls the position of a multidimensional mechanism with a trapezoidal velocity profile using the jacobian of the kinematics
 CJacobianVelController< outputDim, inputDim >This class controls the velocity of a multidimensional mechanism by commanding its position using the jacobian of the kinematics
 Ckinematics::jointpos_tRepresents the position (or power) of the differential wrist joint
 ▼Cfilters::KalmanFilterBase< stateDim, inputDim >Base class for Kalman Filters
 Cfilters::ExtendedKalmanFilter< stateDim, inputDim, outputDim, processNoiseDim, outputNoiseDim >Implements a discrete-time EKF
 Cfilters::KalmanFilter< stateDim, inputDim, outputDim >Implements a Kalman Filter
 Cfilters::MultiSensorEKF< stateDim, inputDim, processNoiseDim, numOutputs >
 Cutil::latchImplementation of a countdown latch for threading synchronization
 Crobot::types::LimitSwitchDataA class that represents limit switches from a specific motor
 CAR::MarkerPatternA class to represent the pattern that may appear on a physical AR tag, NOT a physical instance of a tag itself; each individual instance of the pattern as it appears in the world is represented by an instance of the Tag class, and there may be multiple Tags corresponding to the same MarkerPattern
 CAR::MarkerSetRepresents a "set" of markers used for a competition, containing the markers that should be recognized for that competition and also some other information like the physical (real-world) size of the tags
 Cfilters::statespace::NoiseCovMat< stateDim, size, paramSize >Represents a square noise covariance matrix
 Cfilters::statespace::NoiseCovMat< stateDim, outputNoiseDim, outputDim >
 Cfilters::statespace::NoiseCovMat< stateDim, processNoiseDim, inputDim >
 Cfilters::statespace::NoiseCovMat<-1, -1, -1 >Represents a square noise covariance matrix
 ▼Cutil::impl::Notifiable
 Cutil::AsyncTask< std::chrono::steady_clock >
 Cutil::PeriodicScheduler< std::chrono::steady_clock >
 ▼Cutil::AsyncTask< Clock >An abstract class that can be overridden to run long-running tasks and encapsulate task-related data
 Cnet::mc::tasks::CameraStreamTaskThis task is responsible for sending the camera streams to Mission Control over websocket
 ▼Cutil::PeriodicTask< Clock >Implements a task that executes a function periodically
 Cnet::mc::tasks::ArmIKTaskThis task sets the arm joint positions to track the current IK command
 Cnet::mc::tasks::PowerRepeatTaskThis task is responsible for periodically resending setMotorPower commands to the motors
 Cnet::mc::tasks::TelemReportTaskThis task periodically sends robot telemetry data to Mission Control
 Cutil::PeriodicScheduler< Clock >Uses a single thread to periodically invoke callbacks at a given frequency
 Cutil::PeriodicTask< Clock >Implements a task that executes a function periodically
 Cutil::Watchdog< Clock >Implements a thread-safe watchdog
 Cfilters::OutputRepresent an output for a system
 Ccan::packettype_tThe types of CAN packets that we recognize
 Crobot::pidcoef_tA struct containing a set of PID coefficients
 Ccontrol::PIDController< dim >A PID controller for multiple independent dimensions
 Ccontrol::PIDGainsA set of PID gains
 Ccontrol::PlanarArmController< N >Controller to move planar arm to a target end effector position
 Crobot::potparams_tRepresents parameters defining a potentiometer scale
 Cutil::RAIIHelperA helper class for executing a function when leaving a scope, in RAII-style
 Cfilters::RollingAvgFilter< T >Implements a rolling average filter of the specified type
 Cutil::ScopedTimerA utility class that helps with timing
 Ccan::motor::sensor_tThe supported motor position sensors
 Cnet::websocket::SingleClientWSServerA WebSocket server class that only accepts a single client at a time to each endpoint served by this server
 Ccontrol::SingleDimTrapezoidalVelocityProfileTrapezoidal velocity profile in a single dimension
 Ckinematics::SwerveDriveKinematicsCalculates forward and inverse drivebase kinematics for a 4-wheel swerve drivebase with specifiable width and length
 Ckinematics::swervewheelvel_tRepresents robot wheel velocities in robot reference frame, in polar form (wheel speed and angle)
 CAR::TagClass representing an AR tag detected in an image
 Ccontrol::TrapezoidalVelocityProfile< dim >Trapezoidal velocity profile in multiple dimensions
 Ccontrol::TrapezoidalVelocityProfile< 1 >
 Ccontrol::TrapezoidalVelocityProfile< outputDim >
 ▼Cnet::websocket::WebSocketProtocolDefines a protocol which will be served at an endpoint of a server
 Cnet::mc::MissionControlProtocol
 Ckinematics::wheelvel_t
 Ch264encoder::x264_nal_t_simple
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{motorid_t::wrist, 0.1},
{motorid_t::frontLeftWheel, 0.7},
{motorid_t::frontRightWheel, 0.7},
-
{motorid_t::rearLeftWheel, -0.7},
+
{motorid_t::rearLeftWheel, 0.7},
{motorid_t::rearRightWheel, -0.7},
{motorid_t::hand, -0.75},
{motorid_t::activeSuspension, -0.5}})
@@ -1112,7 +1112,7 @@

{motorid_t::wrist, 0.1},
{motorid_t::frontLeftWheel, 0.7},
{motorid_t::frontRightWheel, 0.7},
-
{motorid_t::rearLeftWheel, -0.7},
+
{motorid_t::rearLeftWheel, 0.7},
{motorid_t::rearRightWheel, -0.7},
{motorid_t::hand, -0.75},
{motorid_t::activeSuspension, -0.5}})
diff --git a/real__world__constants_8h_source.html b/real__world__constants_8h_source.html index 35a656ef9..3b3cb8691 100644 --- a/real__world__constants_8h_source.html +++ b/real__world__constants_8h_source.html @@ -192,7 +192,7 @@
118 {motorid_t::wrist, 0.1},
119 {motorid_t::frontLeftWheel, 0.7},
120 {motorid_t::frontRightWheel, 0.7},
-
121 {motorid_t::rearLeftWheel, -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}});
@@ -204,7 +204,7 @@
134 {motorid_t::wrist, 0.1},
135 {motorid_t::frontLeftWheel, 0.7},
136 {motorid_t::frontRightWheel, 0.7},
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137 {motorid_t::rearLeftWheel, -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}});
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