From b36c6db605221729dfcbdcdd33b1e76823e0c7bd Mon Sep 17 00:00:00 2001 From: abhaybd Date: Sun, 7 Jul 2024 20:05:15 +0000 Subject: [PATCH] deploy: 70e00b4636db89a7a59ea86df78e9998baf211ae --- ArduPilotProtocol_8h_source.html | 2 +- CANMotor_8h_source.html | 2 +- CAN_8h_source.html | 2 +- Constants_8h_source.html | 212 +- Globals_8h_source.html | 49 +- JacobianPosController_8h_source.html | 2 +- JacobianVelController_8h_source.html | 2 +- MissionControlMessages_8h_source.html | 40 +- MissionControlProtocol_8h_source.html | 49 +- MissionControlTasks_8h_source.html | 142 +- ScopedTimer_8h_source.html | 2 +- SwerveController_8h_source.html | 204 ++ annotated.html | 157 +- base__motor_8h_source.html | 2 +- can__motor_8h_source.html | 2 +- classcontrol_1_1SwerveController-members.html | 123 + classcontrol_1_1SwerveController.html | 472 +++ classes.html | 4 +- ...c_1_1tasks_1_1PowerRepeatTask-members.html | 17 +- ...net_1_1mc_1_1tasks_1_1PowerRepeatTask.html | 77 + control__interface_8h_source.html | 25 +- core_8h_source.html | 5 +- data_8h_source.html | 277 +- dir_b81b067251166617f9d0a8c0cfc3a4a9.html | 2 + doc_8h_source.html | 2 +- doxygen_crawl.html | 26 + files.html | 109 +- functions_c.html | 1 + functions_func_c.html | 1 + functions_func_g.html | 2 + functions_func_s.html | 7 + functions_g.html | 2 + functions_s.html | 7 + hierarchy.html | 151 +- inherit_graph_12.map | 2 +- inherit_graph_12.md5 | 2 +- inherit_graph_12.png | Bin 3562 -> 2218 bytes inherit_graph_13.map | 2 +- inherit_graph_13.md5 | 2 +- inherit_graph_13.png | Bin 2524 -> 3562 bytes inherit_graph_14.map | 2 +- inherit_graph_14.md5 | 2 +- inherit_graph_14.png | Bin 2103 -> 2524 bytes inherit_graph_15.map | 2 +- inherit_graph_15.md5 | 2 +- inherit_graph_15.png | Bin 2551 -> 2103 bytes inherit_graph_16.map | 2 +- inherit_graph_16.md5 | 2 +- inherit_graph_16.png | Bin 3952 -> 2551 bytes inherit_graph_17.map | 2 +- inherit_graph_17.md5 | 2 +- inherit_graph_17.png | Bin 3467 -> 3952 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2 +- namespacemembers.html | 1 + namespacemembers_func.html | 1 + namespacerobot.html | 34 + namespacerobot_1_1types.html | 11 +- namespaceutil.html | 7 +- random_8h_source.html | 2 +- scheduler_8h_source.html | 2 +- search/all_10.js | 2036 +++++------ search/all_1c.js | 3124 +++++++++-------- search/all_c.js | 3049 ++++++++-------- search/all_d.js | 127 +- search/classes_13.js | 22 +- search/classes_4.js | 25 +- search/functions_13.js | 1731 ++++----- search/functions_3.js | 1025 +++--- search/functions_7.js | 1612 ++++----- sim__motor_8h_source.html | 2 +- ...control_1_1drive__commands__t-members.html | 116 + structcontrol_1_1drive__commands__t.html | 138 + structcontrol_1_1swerve__rots__t-members.html | 116 + structcontrol_1_1swerve__rots__t.html | 138 + threading_8h_source.html | 2 +- time_8h_source.html | 2 +- transform_8h_source.html | 2 +- world__interface_8h_source.html | 205 +- 224 files changed, 8872 insertions(+), 7274 deletions(-) create mode 100644 SwerveController_8h_source.html create mode 100644 classcontrol_1_1SwerveController-members.html create mode 100644 classcontrol_1_1SwerveController.html create mode 100644 inherit_graph_63.map create mode 100644 inherit_graph_63.md5 create mode 100644 inherit_graph_63.png create mode 100644 inherit_graph_64.map create mode 100644 inherit_graph_64.md5 create mode 100644 inherit_graph_64.png create mode 100644 inherit_graph_65.map create mode 100644 inherit_graph_65.md5 create mode 100644 inherit_graph_65.png create mode 100644 structcontrol_1_1drive__commands__t-members.html create mode 100644 structcontrol_1_1drive__commands__t.html create mode 100644 structcontrol_1_1swerve__rots__t-members.html create mode 100644 structcontrol_1_1swerve__rots__t.html diff --git a/ArduPilotProtocol_8h_source.html b/ArduPilotProtocol_8h_source.html index 732091740..3862ce1fe 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:123
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
diff --git a/CANMotor_8h_source.html b/CANMotor_8h_source.html index 510f60e12..f118f354e 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:123
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
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 6309308d0..aa4b6065f 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:123
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
can
Utilities for interacting with CAN devices.
Definition CAN.cpp:43
can::unscheduleTelemetryPull
void unscheduleTelemetryPull(deviceid_t id, telemtype_t telemType)
Stop pulling the latest telemetry data from the given device.
Definition CAN.cpp:337
can::getDeviceTelemetry
robot::types::DataPoint< telemetry_t > getDeviceTelemetry(deviceid_t id, telemtype_t telemType)
Get the latest telemetry from a CAN device.
Definition CAN.cpp:285
diff --git a/Constants_8h_source.html b/Constants_8h_source.html index 7916f336d..f4d177fb8 100644 --- a/Constants_8h_source.html +++ b/Constants_8h_source.html @@ -120,108 +120,122 @@
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
+
25extern const double ROBOT_WIDTH;
+
29extern const double WHEEL_BASE;
+
34extern const double EFF_WHEEL_BASE;
+
35extern const double WHEEL_RADIUS;
+
36extern const double PWM_PER_RAD_PER_SEC;
+
37extern const double MAX_DRIVE_PWM;
+
38
+
45extern const double MAX_WHEEL_VEL;
+
52extern const double MAX_DTHETA;
+
53
+
54// TODO: We need to recalibrate the camera, since we replaced it with a different one.
+
55// TODO: rename cameras (in MC as well) as appropriate
+
56extern const char* MAST_CAMERA_CONFIG_PATH;
+
57extern const robot::types::CameraID MAST_CAMERA_ID;
+
58
+
59extern const char* FOREARM_CAMERA_CONFIG_PATH;
+
60extern const robot::types::CameraID FOREARM_CAMERA_ID;
+
61
+
62extern const char* HAND_CAMERA_CONFIG_PATH;
+
63extern const robot::types::CameraID HAND_CAMERA_ID;
+
64
+
65extern const uint16_t WS_SERVER_PORT;
+
66
+
70extern const char* MC_PROTOCOL_NAME;
+
74extern const char* SIM_PROTOCOL_NAME;
+
78extern const char* DGPS_PROTOCOL_NAME;
+
82extern const char* ARDUPILOT_PROTOCOL_NAME;
+
83
+
84extern const std::chrono::milliseconds JOINT_POWER_REPEAT_PERIOD;
+
85extern const std::chrono::milliseconds ARM_IK_UPDATE_PERIOD;
+
86
+
87namespace Drive {
+
88// Represents the allowable error in millidegrees for steer motors to still process a drive
+
89// request. That is, we make sure all the wheels are close enough to their target rotation
+
90// before actually driving.
+
91extern const double STEER_EPSILON;
+
92} // namespace Drive
+
93
+
94namespace Nav {
+
95// Distance (m) we could have traveled forward in the time it takes to turn 1 radian
+
96extern const double RADIAN_COST;
+
97// Planner stays this far away from obstacles (m)
+
98extern const double SAFE_RADIUS;
+
99extern const int MAX_ITERS;
+
100extern const double PLAN_RESOLUTION;
+
101extern const double SEARCH_RADIUS_INCREMENT;
+
102extern const double GPS_WAYPOINT_RADIUS;
+
103extern const double LANDMARK_WAYPOINT_RADIUS;
+
104extern const double EPS;
+
105} // namespace Nav
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;
+
107// Lidar
+
108namespace Lidar {
+
109extern const std::string RP_PATH;
+
110extern const double MM_PER_M;
+
111extern const uint32_t RPLIDAR_A1_BAUDRATE;
+
112extern const uint32_t RPLIDAR_S1_BAUDRATE;
+
113} // namespace Lidar
+
114
+
115// Video encoding
+
116namespace video {
+
124extern const int H264_RF_CONSTANT;
+
125
+
129extern const std::unordered_map<robot::types::CameraID, int> STREAM_RFS;
+
130} // namespace video
+
131
+
135constexpr auto JOINT_MOTOR_MAP =
+
136 frozen::make_unordered_map<robot::types::jointid_t, robot::types::motorid_t>(
+
137 {{robot::types::jointid_t::frontLeftSwerve, robot::types::motorid_t::frontLeftSwerve},
+
138 {robot::types::jointid_t::frontRightSwerve,
+
139 robot::types::motorid_t::frontRightSwerve},
+
140 {robot::types::jointid_t::rearLeftSwerve, robot::types::motorid_t::rearLeftSwerve},
+
141 {robot::types::jointid_t::rearRightSwerve, robot::types::motorid_t::rearRightSwerve},
+
142 {robot::types::jointid_t::armBase, robot::types::motorid_t::armBase},
+
143 {robot::types::jointid_t::shoulder, robot::types::motorid_t::shoulder},
+
144 {robot::types::jointid_t::elbow, robot::types::motorid_t::elbow},
+
145 {robot::types::jointid_t::forearm, robot::types::motorid_t::forearm},
+
146 {robot::types::jointid_t::wrist, robot::types::motorid_t::wrist},
+
147 {robot::types::jointid_t::hand, robot::types::motorid_t::hand},
+
148 {robot::types::jointid_t::activeSuspension,
+
149 robot::types::motorid_t::activeSuspension}});
+
150
+
151// Arm inverse kinematics
+
152namespace arm {
+
156extern const double SAFETY_FACTOR;
157
-
162extern const std::array<robot::types::motorid_t, 2> IK_MOTORS;
+
161extern const double MAX_EE_VEL;
+
162extern const double IK_SOLVER_THRESH;
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
+
164extern const int IK_SOLVER_MAX_ITER;
+
165
+
170extern const std::array<robot::types::jointid_t, 2> IK_MOTOR_JOINTS;
+
171
+
176extern const std::array<robot::types::motorid_t, 2> IK_MOTORS;
+
177
+
181constexpr frozen::unordered_map<robot::types::motorid_t, std::pair<int, int>, IK_MOTORS.size()>
+
182 JOINT_LIMITS{{robot::types::motorid_t::shoulder, {18200, 152500}},
+
183 {robot::types::motorid_t::elbow, {-169100, 0}}};
+
184
+
188constexpr frozen::unordered_map<robot::types::motorid_t, double, IK_MOTORS.size()>
+
189 SEGMENT_LENGTHS{{robot::types::motorid_t::shoulder, 0.3848608},
+
190 {robot::types::motorid_t::elbow, 0.461264}};
+
191} // namespace arm
+
192
+
193namespace autonomous {
+
194extern const double THETA_KP;
+
195extern const double DRIVE_VEL;
+
196extern const double SLOW_DRIVE_THRESHOLD;
+
197extern const double DONE_THRESHOLD;
+
198// Duration long enough to confirm we are there, not so long that time is wasted
+
199extern const util::dseconds CLOSE_TO_TARGET_DUR_VAL;
+
200} // namespace autonomous
+
201
+
202extern const double CONTROL_HZ;
+
203
+
204} // namespace Constants
diff --git a/Globals_8h_source.html b/Globals_8h_source.html index 96bc50196..6ac34236a 100644 --- a/Globals_8h_source.html +++ b/Globals_8h_source.html @@ -102,33 +102,36 @@
1#pragma once
2
3#include "control/PlanarArmController.h"
-
4#include "kinematics/ArmKinematics.h"
-
5#include "network/websocket/WebSocketServer.h"
-
6#include "world_interface/data.h"
-
7
-
8#include <atomic>
-
9#include <vector>
-
10
-
14enum class RoverState {
-
15 RemoteControl,
-
16 DrivingToWaypoint,
-
17 LookingForTennisball,
-
18};
-
19
-
20// NOTE(sasha): To keep linker happy, declare globals with "extern" here and then
-
21// provide variable definition in Globals.cpp
-
22namespace Globals {
-
26extern RoverState curr_state;
-
27extern net::websocket::SingleClientWSServer websocketServer;
-
28extern std::atomic<bool> AUTONOMOUS;
-
29extern robot::types::mountedperipheral_t mountedPeripheral;
-
30extern control::PlanarArmController<2> planarArmController;
-
31extern std::atomic<bool> armIKEnabled;
-
32} // namespace Globals
+
4#include "control/SwerveController.h"
+
5#include "kinematics/ArmKinematics.h"
+
6#include "network/websocket/WebSocketServer.h"
+
7#include "world_interface/data.h"
+
8
+
9#include <atomic>
+
10#include <vector>
+
11
+
15enum class RoverState {
+
16 RemoteControl,
+
17 DrivingToWaypoint,
+
18 LookingForTennisball,
+
19};
+
20
+
21// NOTE(sasha): To keep linker happy, declare globals with "extern" here and then
+
22// provide variable definition in Globals.cpp
+
23namespace Globals {
+
27extern RoverState curr_state;
+
28extern net::websocket::SingleClientWSServer websocketServer;
+
29extern std::atomic<bool> AUTONOMOUS;
+
30extern robot::types::mountedperipheral_t mountedPeripheral;
+
31extern control::PlanarArmController<2> planarArmController;
+
32extern control::SwerveController swerveController;
+
33extern std::atomic<bool> armIKEnabled;
+
34} // namespace Globals
control::PlanarArmController
Controller to move planar arm to a target end effector position.
Definition PlanarArmController.h:28
+
control::SwerveController
Controller to handle the wheel rotations for driving with swerve modes.
Definition SwerveController.h:56
net::websocket::SingleClientWSServer
A WebSocket server class that only accepts a single client at a time to each endpoint served by this ...
Definition WebSocketServer.h:35
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:76
diff --git a/JacobianPosController_8h_source.html b/JacobianPosController_8h_source.html index 3a7e21bbc..423788717 100644 --- a/JacobianPosController_8h_source.html +++ b/JacobianPosController_8h_source.html @@ -228,7 +228,7 @@
control::TrapezoidalVelocityProfile::reset
void reset()
Reset the profile and clear any calculated profile.
Definition TrapezoidalVelocityProfile.h:37
control::TrapezoidalVelocityProfile::hasTarget
bool hasTarget() const
Check if a profile has been calculated.
Definition TrapezoidalVelocityProfile.h:46
control::TrapezoidalVelocityProfile::setTarget
void setTarget(robot::types::datatime_t currTime, const std::array< double, dim > &startPos, const std::array< double, dim > &endPos)
Calculate a profile, assuming the mechanism begins and ends at rest.
Definition TrapezoidalVelocityProfile.h:57
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
diff --git a/JacobianVelController_8h_source.html b/JacobianVelController_8h_source.html index 41d3f2a9f..7080ff0d2 100644 --- a/JacobianVelController_8h_source.html +++ b/JacobianVelController_8h_source.html @@ -228,7 +228,7 @@
JacobianVelController::setTarget
void setTarget(robot::types::datatime_t currTime, const navtypes::Vectord< outputDim > &targetVel)
Set the target velocity.
Definition JacobianVelController.h:114
JacobianVelController::hasTarget
bool hasTarget()
Check if a target velocity has been set.
Definition JacobianVelController.h:125
JacobianVelController::reset
void reset()
Reset the controller, unsetting the current command.
Definition JacobianVelController.h:132
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
util::durationToSec
double durationToSec(std::chrono::duration< Rep, Period > dur)
Convert a duration to seconds, as a double.
Definition time.h:18
diff --git a/MissionControlMessages_8h_source.html b/MissionControlMessages_8h_source.html index 368975733..4049126c0 100644 --- a/MissionControlMessages_8h_source.html +++ b/MissionControlMessages_8h_source.html @@ -108,24 +108,28 @@
7// request keys
8constexpr const char* EMERGENCY_STOP_REQ_TYPE = "emergencyStopRequest";
9constexpr const char* OPERATION_MODE_REQ_TYPE = "operationModeRequest";
-
10constexpr const char* DRIVE_REQ_TYPE = "driveRequest";
-
11constexpr const char* ARM_IK_ENABLED_TYPE = "requestArmIKEnabled";
-
12constexpr const char* JOINT_POWER_REQ_TYPE = "jointPowerRequest";
-
13constexpr const char* MOTOR_POSITION_REQ_TYPE = "motorPositionRequest";
-
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";
-
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
+
10constexpr const char* DRIVE_MODE_REQ_TYPE = "swerveDriveModeRequest";
+
11constexpr const char* DRIVE_REQ_TYPE = "driveRequest";
+
12constexpr const char* DRIVE_TANK_REQ_TYPE = "tankDriveRequest";
+
13constexpr const char* DRIVE_TURN_IN_PLACE_REQ_TYPE = "turnInPlaceDriveRequest";
+
14constexpr const char* DRIVE_CRAB_REQ_TYPE = "crabDriveRequest";
+
15constexpr const char* ARM_IK_ENABLED_TYPE = "requestArmIKEnabled";
+
16constexpr const char* JOINT_POWER_REQ_TYPE = "jointPowerRequest";
+
17constexpr const char* MOTOR_POSITION_REQ_TYPE = "motorPositionRequest";
+
18constexpr const char* JOINT_POSITION_REQ_TYPE = "jointPositionRequest";
+
19constexpr const char* CAMERA_STREAM_OPEN_REQ_TYPE = "cameraStreamOpenRequest";
+
20constexpr const char* CAMERA_STREAM_CLOSE_REQ_TYPE = "cameraStreamCloseRequest";
+
21constexpr const char* WAYPOINT_NAV_REQ_TYPE = "waypointNavRequest";
+
22
+
23// report keys
+
24constexpr const char* MOTOR_STATUS_REP_TYPE = "motorStatusReport";
+
25constexpr const char* CAMERA_STREAM_REP_TYPE = "cameraStreamReport";
+
26constexpr const char* MOUNTED_PERIPHERAL_REP_TYPE = "mountedPeripheralReport";
+
27constexpr const char* JOINT_POSITION_REP_TYPE = "jointPositionReport";
+
28constexpr const char* ROVER_POS_REP_TYPE = "roverPositionReport";
+
29constexpr const char* ARM_IK_ENABLED_REP_TYPE = "armIKEnabledReport";
+
30
+
31} // namespace net::mc
diff --git a/MissionControlProtocol_8h_source.html b/MissionControlProtocol_8h_source.html index 09285d905..7d90a1012 100644 --- a/MissionControlProtocol_8h_source.html +++ b/MissionControlProtocol_8h_source.html @@ -145,24 +145,31 @@
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};
+
46 void handleDriveModeRequest(const json& j);
+
47 void handleTankDriveRequest(const json& j);
+
48 void handleTurnInPlaceDriveRequest(const json& j);
+
49 void handleCrabDriveRequest(const json& j);
+
50 void handleCameraStreamOpenRequest(const json& j);
+
51 void handleCameraStreamCloseRequest(const json& j);
+
52 void handleJointPowerRequest(const json& j);
+
53 void handleWaypointNavRequest(const json& j);
+
54 void handleDriveRequest(const json& j);
+
55 void handleRequestArmIKEnabled(const json& j);
+
56 void sendArmIKEnabledReport(bool enabled);
+
57 void handleConnection();
+
58 void handleHeartbeatTimedOut();
+
59 void stopAndShutdownPowerRepeat(bool sendDisableIK);
+
60 void setArmIKEnabled(bool enabled, bool sendReport = true);
+
61 void setRequestedJointPower(jointid_t joint, double power);
+
62 void setRequestedCmdVel(double dtheta, double dx);
+
63 void setRequestedTankCmdVel(double left, double right);
+
64 void setRequestedTurnInPlaceCmdVel(double dtheta);
+
65 void setRequestedCrabCmdVel(double dtheta, double dy);
+
66};
-
60
-
61}; // namespace mc
-
62} // namespace net
+
67
+
68}; // namespace mc
+
69} // namespace net
@@ -172,12 +179,14 @@
power
_Tp power(_Tp __x, _Integer __n, _MonoidOperation __monoid_op)
+
right
ios_base & right(ios_base &__base)
+
left
ios_base & left(ios_base &__base)
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::ArmIKTask
This task sets the arm joint positions to track the current IK command.
Definition MissionControlTasks.h:120
+
net::mc::tasks::CameraStreamTask
This task is responsible for sending the camera streams to Mission Control over websocket.
Definition MissionControlTasks.h:72
net::mc::tasks::PowerRepeatTask
This task is responsible for periodically resending setMotorPower commands to the motors.
Definition MissionControlTasks.h:20
-
net::mc::tasks::TelemReportTask
This task periodically sends robot telemetry data to Mission Control.
Definition MissionControlTasks.h:86
+
net::mc::tasks::TelemReportTask
This task periodically sends robot telemetry data to Mission Control.
Definition MissionControlTasks.h:105
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
net::websocket::WebSocketProtocol
Defines a protocol which will be served at an endpoint of a server.
Definition WebSocketProtocol.h:30
nlohmann::basic_json
diff --git a/MissionControlTasks_8h_source.html b/MissionControlTasks_8h_source.html index fb5c8c7e6..cf34fb1d9 100644 --- a/MissionControlTasks_8h_source.html +++ b/MissionControlTasks_8h_source.html @@ -123,67 +123,74 @@
29
34 void setCmdVel(double steerVel, double xVel);
35
-
36 void start() override;
-
37
-
38 void stop() override;
-
39
-
40private:
-
41 std::mutex _mutex;
-
42 std::unordered_map<robot::types::jointid_t, double> _last_joint_power;
-
43 // if not present, then there is no last requested drive power
-
44 std::optional<std::pair<double, double>> _last_cmd_vel;
-
45
-
46 void periodicTask();
-
47};
- -
48
-
-
53class CameraStreamTask : public util::AsyncTask<> {
-
54public:
-
55 CameraStreamTask(websocket::SingleClientWSServer& server);
-
56
-
63 void openStream(const robot::types::CameraID& cam, int fps);
+
40 void setTankCmdVel(double steerVel, double xVel);
+
41
+
46 void setTurnInPlaceCmdVel(double steerVel);
+
47
+
52 void setCrabCmdVel(double steerVel, double xVel);
+
53
+
54 void start() override;
+
55
+
56 void stop() override;
+
57
+
58private:
+
59 std::mutex _mutex;
+
60 std::unordered_map<robot::types::jointid_t, double> _last_joint_power;
+
61 // if not present, then there is no last requested drive power
+
62 std::optional<std::pair<double, double>> _last_cmd_vel;
+
63 bool _tank;
64
-
70 void closeStream(const robot::types::CameraID& cam);
-
71
-
72protected:
-
73 void task(std::unique_lock<std::mutex>& lock) override;
-
74
-
75private:
-
76 websocket::SingleClientWSServer& _server;
-
77 std::mutex _mutex;
-
78 std::unordered_map<robot::types::CameraID, uint32_t> _open_streams;
-
79 std::unordered_map<robot::types::CameraID, std::shared_ptr<video::H264Encoder>>
-
80 _camera_encoders;
-
81};
+
65 void periodicTask();
+
66};
-
82
-
-
86class TelemReportTask : public util::PeriodicTask<> {
-
87public:
-
88 TelemReportTask(websocket::SingleClientWSServer& server);
-
89
-
90private:
-
91 websocket::SingleClientWSServer& _server;
-
92
-
93 void sendTelemetry();
-
94};
+
67
+
+
72class CameraStreamTask : public util::AsyncTask<> {
+
73public:
+
74 CameraStreamTask(websocket::SingleClientWSServer& server);
+
75
+
82 void openStream(const robot::types::CameraID& cam, int fps);
+
83
+
89 void closeStream(const robot::types::CameraID& cam);
+
90
+
91protected:
+
92 void task(std::unique_lock<std::mutex>& lock) override;
+
93
+
94private:
+
95 websocket::SingleClientWSServer& _server;
+
96 std::mutex _mutex;
+
97 std::unordered_map<robot::types::CameraID, uint32_t> _open_streams;
+
98 std::unordered_map<robot::types::CameraID, std::shared_ptr<video::H264Encoder>>
+
99 _camera_encoders;
+
100};
-
95
-
-
101class ArmIKTask : public util::PeriodicTask<> {
-
102public:
-
103 ArmIKTask(websocket::SingleClientWSServer& server);
-
104
-
105private:
-
106 std::mutex _mutex;
-
107 websocket::SingleClientWSServer& _server;
+
101
+
+
105class TelemReportTask : public util::PeriodicTask<> {
+
106public:
+
107 TelemReportTask(websocket::SingleClientWSServer& server);
108
-
109 void updateArmIK();
-
110};
-
+
109private:
+
110 websocket::SingleClientWSServer& _server;
111
-
112} // namespace net::mc::tasks
+
112 void sendTelemetry();
+
113};
+
+
114
+
+
120class ArmIKTask : public util::PeriodicTask<> {
+
121public:
+
122 ArmIKTask(websocket::SingleClientWSServer& server);
+
123
+
124private:
+
125 std::mutex _mutex;
+
126 websocket::SingleClientWSServer& _server;
+
127
+
128 void updateArmIK();
+
129};
+
+
130
+
131} // namespace net::mc::tasks
@@ -194,17 +201,20 @@ -
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::CameraStreamTask::openStream
void openStream(const robot::types::CameraID &cam, int fps)
Start streaming a new camera to Mission Control.
Definition MissionControlTasks.cpp:72
-
net::mc::tasks::CameraStreamTask::closeStream
void closeStream(const robot::types::CameraID &cam)
Stop streaming a camera to Mission Control.
Definition MissionControlTasks.cpp:81
-
net::mc::tasks::CameraStreamTask::task
void task(std::unique_lock< std::mutex > &lock) override
The long-running task, overridden by client code.
Definition MissionControlTasks.cpp:87
+
net::mc::tasks::ArmIKTask
This task sets the arm joint positions to track the current IK command.
Definition MissionControlTasks.h:120
+
net::mc::tasks::CameraStreamTask
This task is responsible for sending the camera streams to Mission Control over websocket.
Definition MissionControlTasks.h:72
+
net::mc::tasks::CameraStreamTask::openStream
void openStream(const robot::types::CameraID &cam, int fps)
Start streaming a new camera to Mission Control.
Definition MissionControlTasks.cpp:129
+
net::mc::tasks::CameraStreamTask::closeStream
void closeStream(const robot::types::CameraID &cam)
Stop streaming a camera to Mission Control.
Definition MissionControlTasks.cpp:138
+
net::mc::tasks::CameraStreamTask::task
void task(std::unique_lock< std::mutex > &lock) override
The long-running task, overridden by client code.
Definition MissionControlTasks.cpp:144
net::mc::tasks::PowerRepeatTask
This task is responsible for periodically resending setMotorPower commands to the motors.
Definition MissionControlTasks.h:20
-
net::mc::tasks::PowerRepeatTask::setJointPower
void setJointPower(robot::types::jointid_t id, double power)
Set the power to resend to the given joint.
Definition MissionControlTasks.cpp:28
-
net::mc::tasks::PowerRepeatTask::setCmdVel
void setCmdVel(double steerVel, double xVel)
Set the drive command to resend.
Definition MissionControlTasks.cpp:33
-
net::mc::tasks::PowerRepeatTask::stop
void stop() override
Stop the task and wait for it to finish.
Definition MissionControlTasks.cpp:44
-
net::mc::tasks::PowerRepeatTask::start
void start() override
Start the task.
Definition MissionControlTasks.cpp:38
-
net::mc::tasks::TelemReportTask
This task periodically sends robot telemetry data to Mission Control.
Definition MissionControlTasks.h:86
+
net::mc::tasks::PowerRepeatTask::setJointPower
void setJointPower(robot::types::jointid_t id, double power)
Set the power to resend to the given joint.
Definition MissionControlTasks.cpp:40
+
net::mc::tasks::PowerRepeatTask::setTankCmdVel
void setTankCmdVel(double steerVel, double xVel)
Set the tank drive command to resend.
Definition MissionControlTasks.cpp:51
+
net::mc::tasks::PowerRepeatTask::setCrabCmdVel
void setCrabCmdVel(double steerVel, double xVel)
Set the crab drive command to resend.
Definition MissionControlTasks.cpp:67
+
net::mc::tasks::PowerRepeatTask::setCmdVel
void setCmdVel(double steerVel, double xVel)
Set the drive command to resend.
Definition MissionControlTasks.cpp:45
+
net::mc::tasks::PowerRepeatTask::stop
void stop() override
Stop the task and wait for it to finish.
Definition MissionControlTasks.cpp:83
+
net::mc::tasks::PowerRepeatTask::start
void start() override
Start the task.
Definition MissionControlTasks.cpp:77
+
net::mc::tasks::PowerRepeatTask::setTurnInPlaceCmdVel
void setTurnInPlaceCmdVel(double steerVel)
Set the turn-in-place drive command to resend.
Definition MissionControlTasks.cpp:57
+
net::mc::tasks::TelemReportTask
This task periodically sends robot telemetry data to Mission Control.
Definition MissionControlTasks.h:105
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
util::AsyncTask
An abstract class that can be overridden to run long-running tasks and encapsulate task-related data.
Definition scheduler.h:316
util::PeriodicTask
Implements a task that executes a function periodically.
Definition scheduler.h:484
diff --git a/ScopedTimer_8h_source.html b/ScopedTimer_8h_source.html index 739c2b1c4..dea892666 100644 --- a/ScopedTimer_8h_source.html +++ b/ScopedTimer_8h_source.html @@ -132,7 +132,7 @@
util::ScopedTimer
A utility class that helps with timing.
Definition ScopedTimer.h:14
util::ScopedTimer::ScopedTimer
ScopedTimer()
Create an unnamed scoped timer.
Definition ScopedTimer.cpp:10
util::ScopedTimer::elapsedTime
std::chrono::microseconds elapsedTime() const
Gets the elapsed time measured by this timer.
Definition ScopedTimer.cpp:20
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
diff --git a/SwerveController_8h_source.html b/SwerveController_8h_source.html new file mode 100644 index 000000000..a739ede7a --- /dev/null +++ b/SwerveController_8h_source.html @@ -0,0 +1,204 @@ + + + + + + + +Resurgence (PY2022): src/control/SwerveController.h Source File + + + + + + + + + + + + + + + +
+
+ + + + + + +
+
Resurgence (PY2022) +
+
Codebase for the Husky Robotics 2021-2022 rover Resurgence
+
+
+ + + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
No Matches
+
+
+
+
+ + +
+
+
+
SwerveController.h
+
+
+
1#pragma once
+
2
+
3#include "../kinematics/DiffDriveKinematics.h"
+
4#include "../kinematics/SwerveDriveKinematics.h"
+
5
+
6#include <map>
+
7
+
8namespace control {
+
13enum class DriveMode {
+
18 Normal,
+
19
+
24 TurnInPlace,
+
25
+
30 Crab,
+
31};
+
32
+
+
36struct swerve_rots_t {
+
37 int lfRot;
+
38 int rfRot;
+
39 int lbRot;
+
40 int rbRot;
+
41};
+
+
42
+
+
46struct drive_commands_t {
+
47 double lfPower;
+
48 double rfPower;
+
49 double lbPower;
+
50 double rbPower;
+
51};
+
+
52
+
+
56class SwerveController {
+
57public:
+
68 SwerveController(double baseWidth, double baseLength, int epsilon);
+
69
+
77 drive_commands_t setTurnInPlaceCmdVel(double dtheta,
+
78 const swerve_rots_t& wheel_rots) const;
+
79
+
90 drive_commands_t setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t& wheel_rots,
+
91 double& scaleFactor) const;
+
92
+
102 drive_commands_t setCrabCmdVel(double dtheta, double dy,
+
103 const swerve_rots_t& wheel_rots) const;
+
104
+
117 drive_commands_t setCrabCmdVel(double dtheta, double dy, const swerve_rots_t& wheel_rots,
+
118 double& scaleFactor) const;
+
119
+
125 const kinematics::SwerveDriveKinematics& swerveKinematics() const;
+
126
+
135 void setOverride(bool override);
+
136
+
142 DriveMode getDriveMode() const;
+
143
+
150 swerve_rots_t setDriveMode(DriveMode mode);
+
151
+
160 bool checkWheelRotation(DriveMode mode, const swerve_rots_t& wheel_rots) const;
+
161
+
165 swerve_rots_t getSteerRots(DriveMode mode) const;
+
166
+
167private:
+
168 const kinematics::SwerveDriveKinematics swerve_kinematics;
+
169 const kinematics::DiffDriveKinematics crab_kinematics;
+
170 const double steer_epsilon;
+
171
+
175 DriveMode driveMode;
+
176
+
181 bool override_steer_check;
+
182};
+
+
183} // namespace control
+
184
+
185namespace util {
+
186std::string to_string(control::DriveMode mode);
+
187} // namespace util
+ +
std::string
_GLIBCXX_END_NAMESPACE_CXX11 typedef basic_string< char > string
+
control::SwerveController
Controller to handle the wheel rotations for driving with swerve modes.
Definition SwerveController.h:56
+
control::SwerveController::SwerveController
SwerveController(double baseWidth, double baseLength, int epsilon)
Construct a new controller object.
Definition SwerveController.cpp:8
+
control::SwerveController::swerveKinematics
const kinematics::SwerveDriveKinematics & swerveKinematics() const
Get the SwerveDriveKinematics object used by the controller.
Definition SwerveController.cpp:124
+
control::SwerveController::setOverride
void setOverride(bool override)
Set the override flag for wheel rotation checking.
Definition SwerveController.cpp:137
+
control::SwerveController::checkWheelRotation
bool checkWheelRotation(DriveMode mode, const swerve_rots_t &wheel_rots) const
Check to see if all wheels are at their target position.
Definition SwerveController.cpp:86
+
control::SwerveController::getSteerRots
swerve_rots_t getSteerRots(DriveMode mode) const
Get the wheel steer rotations for a given drive mode in millidegrees.
Definition SwerveController.cpp:104
+
control::SwerveController::setDriveMode
swerve_rots_t setDriveMode(DriveMode mode)
Set the drive mode of the controller.
Definition SwerveController.cpp:132
+
control::SwerveController::setTurnInPlaceCmdVel
drive_commands_t setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t &wheel_rots) const
Request the robot to turn in place using swerve.
Definition SwerveController.cpp:13
+
control::SwerveController::getDriveMode
DriveMode getDriveMode() const
Get the current drive mode of the controller.
Definition SwerveController.cpp:128
+
control::SwerveController::setCrabCmdVel
drive_commands_t setCrabCmdVel(double dtheta, double dy, const swerve_rots_t &wheel_rots) const
Request the robot to drive side to side and turn with given velocities using swerve.
Definition SwerveController.cpp:53
+
kinematics::DiffDriveKinematics
Represents the kinematics of a differential drive.
Definition DiffDriveKinematics.h:14
+
kinematics::SwerveDriveKinematics
Calculates forward and inverse drivebase kinematics for a 4-wheel swerve drivebase with specifiable w...
Definition SwerveDriveKinematics.h:27
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
+
control::drive_commands_t
The power commands to all four drive motors.
Definition SwerveController.h:46
+
control::swerve_rots_t
Represents the rotations of all four steer motors in in millidegrees.
Definition SwerveController.h:36
+
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/annotated.html b/annotated.html index fa305ec87..f6d95da41 100644 --- a/annotated.html +++ b/annotated.html @@ -118,83 +118,86 @@  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 - Cbad_datapoint_access - 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 + Cdrive_commands_tThe power commands to all four drive motors + 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 + Cswerve_rots_tRepresents the rotations of all four steer motors in in millidegrees + CSwerveControllerController to handle the wheel rotations for driving with swerve modes + 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 + Cbad_datapoint_access + 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/base__motor_8h_source.html b/base__motor_8h_source.html index c3fd8c1dd..e0d8e88bf 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:123
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
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 8ad67243f..8eadeb025 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:123
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
can::motor::motormode_t
motormode_t
The possible motor modes.
Definition CANMotor.h:19
can::deviceserial_t
uint8_t deviceserial_t
The type of the device serial number.
Definition CANUtils.h:64
int32_t
::int32_t int32_t
diff --git a/classcontrol_1_1SwerveController-members.html b/classcontrol_1_1SwerveController-members.html new file mode 100644 index 000000000..54663f079 --- /dev/null +++ b/classcontrol_1_1SwerveController-members.html @@ -0,0 +1,123 @@ + + + + + + + +Resurgence (PY2022): Member List + + + + + + + + + + + + + + + +
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Codebase for the Husky Robotics 2021-2022 rover Resurgence
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control::SwerveController Member List
+
+
+ +

This is the complete list of members for control::SwerveController, including all inherited members.

+ + + + + + + + + + + + +
checkWheelRotation(DriveMode mode, const swerve_rots_t &wheel_rots) constcontrol::SwerveController
getDriveMode() constcontrol::SwerveController
getSteerRots(DriveMode mode) constcontrol::SwerveController
setCrabCmdVel(double dtheta, double dy, const swerve_rots_t &wheel_rots) constcontrol::SwerveController
setCrabCmdVel(double dtheta, double dy, const swerve_rots_t &wheel_rots, double &scaleFactor) constcontrol::SwerveController
setDriveMode(DriveMode mode)control::SwerveController
setOverride(bool override)control::SwerveController
setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t &wheel_rots) constcontrol::SwerveController
setTurnInPlaceCmdVel(double dtheta, const swerve_rots_t &wheel_rots, double &scaleFactor) constcontrol::SwerveController
SwerveController(double baseWidth, double baseLength, int epsilon)control::SwerveController
swerveKinematics() constcontrol::SwerveController
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/classcontrol_1_1SwerveController.html b/classcontrol_1_1SwerveController.html new file mode 100644 index 000000000..40b476d18 --- /dev/null +++ b/classcontrol_1_1SwerveController.html @@ -0,0 +1,472 @@ + + + + + + + +Resurgence (PY2022): control::SwerveController Class Reference + + + + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
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control::SwerveController Class Reference
+
+
+ +

Controller to handle the wheel rotations for driving with swerve modes. + More...

+ +

#include <SwerveController.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 SwerveController (double baseWidth, double baseLength, int epsilon)
 Construct a new controller object.
 
drive_commands_t setTurnInPlaceCmdVel (double dtheta, const swerve_rots_t &wheel_rots) const
 Request the robot to turn in place using swerve.
 
drive_commands_t setTurnInPlaceCmdVel (double dtheta, const swerve_rots_t &wheel_rots, double &scaleFactor) const
 Request the robot to turn in place using swerve.
 
drive_commands_t setCrabCmdVel (double dtheta, double dy, const swerve_rots_t &wheel_rots) const
 Request the robot to drive side to side and turn with given velocities using swerve.
 
drive_commands_t setCrabCmdVel (double dtheta, double dy, const swerve_rots_t &wheel_rots, double &scaleFactor) const
 Request the robot to drive side to side and turn with given velocities using swerve.
 
const kinematics::SwerveDriveKinematics & swerveKinematics () const
 Get the SwerveDriveKinematics object used by the controller.
 
void setOverride (bool override)
 Set the override flag for wheel rotation checking.
 
DriveMode getDriveMode () const
 Get the current drive mode of the controller.
 
swerve_rots_t setDriveMode (DriveMode mode)
 Set the drive mode of the controller.
 
bool checkWheelRotation (DriveMode mode, const swerve_rots_t &wheel_rots) const
 Check to see if all wheels are at their target position.
 
+swerve_rots_t getSteerRots (DriveMode mode) const
 Get the wheel steer rotations for a given drive mode in millidegrees.
 
+

Detailed Description

+

Controller to handle the wheel rotations for driving with swerve modes.

+

Constructor & Destructor Documentation

+ +

◆ SwerveController()

+ +
+
+ + + + + + + + + + + + + + + + +
control::SwerveController::SwerveController (double baseWidth,
double baseLength,
int epsilon )
+
+ +

Construct a new controller object.

+
Parameters
+ + + + +
baseWidthThe width of the wheelbase. The units themselves don't matter, as long as you're consistent.
baseLengthThe length of the wheelbase. The units themselves don't matter, as long as you're consistent.
epsilonThe allowable error from the actual wheel rotation to the wheel rotations defined by DRIVE_MODE to process a drive request
+
+
+ +
+
+

Member Function Documentation

+ +

◆ checkWheelRotation()

+ +
+
+ + + + + + + + + + + +
bool SwerveController::checkWheelRotation (DriveMode mode,
const swerve_rots_t & wheel_rots ) const
+
+ +

Check to see if all wheels are at their target position.

+
Parameters
+ + + +
modeThe drive mode to compare wheel rotations against.
wheel_rotsThe rotation of all four wheels in millidegrees
+
+
+
Returns
bool if the wheels are within STEER_EPSILON of their target position OR if overide_steer_check is true.
+ +
+
+ +

◆ getDriveMode()

+ +
+
+ + + + + + + +
DriveMode SwerveController::getDriveMode () const
+
+ +

Get the current drive mode of the controller.

+
Returns
DriveMode The current drive mode.
+ +
+
+ +

◆ setCrabCmdVel() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + +
drive_commands_t SwerveController::setCrabCmdVel (double dtheta,
double dy,
const swerve_rots_t & wheel_rots ) const
+
+ +

Request the robot to drive side to side and turn with given velocities using swerve.

+

Essentially rotate the reference frame of the robot by 90 degrees CCW.

+
Parameters
+ + + + +
dthetaThe heading velocity.
dyThe side-to-side velocity.
wheel_rotsThe rotation of all four wheels in millidegrees
+
+
+
Returns
drive_commands_t The power commands for all four wheels.
+ +
+
+ +

◆ setCrabCmdVel() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + +
drive_commands_t SwerveController::setCrabCmdVel (double dtheta,
double dy,
const swerve_rots_t & wheel_rots,
double & scaleFactor ) const
+
+ +

Request the robot to drive side to side and turn with given velocities using swerve.

+

Essentially rotate the reference frame of the robot by 90 degrees CCW.

+
Parameters
+ + + + + +
dthetaThe heading velocity.
dyThe side-to-side velocity.
wheel_rotsThe rotation of all four wheels in millidegrees
scaleFactorThis is an output parameter. If the requested velocities are too high, they will be scaled down. The returned value is the scale divisor. If no scaling was performed, 1 is returned.
+
+
+
Returns
drive_commands_t The power commands for all four wheels.
+ +
+
+ +

◆ setDriveMode()

+ +
+
+ + + + + + + +
swerve_rots_t SwerveController::setDriveMode (DriveMode mode)
+
+ +

Set the drive mode of the controller.

+
Parameters
+ + +
modeThe new drive mode to set.
+
+
+
Returns
swerve_rots_t The wheel steer rotations associated with this drive mode.
+ +
+
+ +

◆ setOverride()

+ +
+
+ + + + + + + +
void SwerveController::setOverride (bool override)
+
+ +

Set the override flag for wheel rotation checking.

+

When set to true, the checkWheelRotation function will always return true, bypassing the wheel rotation check.

+
Parameters
+ + +
overrideOverride the wheel rotation check.
+
+
+ +
+
+ +

◆ setTurnInPlaceCmdVel() [1/2]

+ +
+
+ + + + + + + + + + + +
drive_commands_t SwerveController::setTurnInPlaceCmdVel (double dtheta,
const swerve_rots_t & wheel_rots ) const
+
+ +

Request the robot to turn in place using swerve.

+
Parameters
+ + + +
dthetaThe heading velocity.
wheel_rotsThe rotation of all four wheels in millidegrees
+
+
+
Returns
drive_commands_t The power commands for all four wheels.
+ +
+
+ +

◆ setTurnInPlaceCmdVel() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + +
drive_commands_t SwerveController::setTurnInPlaceCmdVel (double dtheta,
const swerve_rots_t & wheel_rots,
double & scaleFactor ) const
+
+ +

Request the robot to turn in place using swerve.

+
Parameters
+ + + + +
dthetaThe heading velocity.
wheel_rotsThe rotation of all four wheels in millidegrees
scaleFactorThis is an output parameter. If the requested velocities are too high, they will be scaled down. The returned value is the scale divisor. If no scaling was performed, 1 is returned.
+
+
+
Returns
drive_commands_t The power commands for all four wheels.
+ +
+
+ +

◆ swerveKinematics()

+ +
+
+ + + + + + + +
const kinematics::SwerveDriveKinematics & SwerveController::swerveKinematics () const
+
+ +

Get the SwerveDriveKinematics object used by the controller.

+
Returns
const kinematics::SwerveDriveKinematics& The SwerveDriveKinematics object.
+ +
+
+
The documentation for this class was generated from the following files: +
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/classes.html b/classes.html index 63e343e37..98ef78991 100644 --- a/classes.html +++ b/classes.html @@ -108,7 +108,7 @@
Camera (cam)
CameraConfig (cam)
CameraParams (cam)
CameraStreamTask (net::mc::tasks)
can_motor (robot)
command_t (commands)
CommandBase (commands)
D
-
DataPoint (robot::types)
Detector (AR)
DiffDriveKinematics (kinematics)
DiffWristKinematics (kinematics)
DriveToWaypointCommand (commands)
+
DataPoint (robot::types)
Detector (AR)
DiffDriveKinematics (kinematics)
DiffWristKinematics (kinematics)
drive_commands_t (control)
DriveToWaypointCommand (commands)
E
Encoder (h264encoder)
EncoderImpl (h264encoder)
encparams_t (robot)
eulerangles_t (navtypes)
ExtendedKalmanFilter (filters)
@@ -150,7 +150,7 @@
RAIIHelper (util)
RollingAvgFilter (filters)
S
-
ScopedTimer (util)
sensor_t (can::motor)
sim_motor (robot)
SingleClientWSServer (net::websocket)
SingleDimTrapezoidalVelocityProfile (control)
SwerveDriveKinematics (kinematics)
swervewheelvel_t (kinematics)
+
ScopedTimer (util)
sensor_t (can::motor)
sim_motor (robot)
SingleClientWSServer (net::websocket)
SingleDimTrapezoidalVelocityProfile (control)
swerve_rots_t (control)
SwerveController (control)
SwerveDriveKinematics (kinematics)
swervewheelvel_t (kinematics)
T
Tag (AR)
TelemReportTask (net::mc::tasks)
TrapezoidalVelocityProfile (control)
diff --git a/classnet_1_1mc_1_1tasks_1_1PowerRepeatTask-members.html b/classnet_1_1mc_1_1tasks_1_1PowerRepeatTask-members.html index 0ce0707d2..6318ea627 100644 --- a/classnet_1_1mc_1_1tasks_1_1PowerRepeatTask-members.html +++ b/classnet_1_1mc_1_1tasks_1_1PowerRepeatTask-members.html @@ -109,13 +109,16 @@ PeriodicTask(const std::chrono::milliseconds &period, const std::function< void()> &f)util::PeriodicTask< Clock >inline PowerRepeatTask() (defined in net::mc::tasks::PowerRepeatTask)net::mc::tasks::PowerRepeatTask setCmdVel(double steerVel, double xVel)net::mc::tasks::PowerRepeatTask - setJointPower(robot::types::jointid_t id, double power)net::mc::tasks::PowerRepeatTask - start() overridenet::mc::tasks::PowerRepeatTaskvirtual - stop() overridenet::mc::tasks::PowerRepeatTaskvirtual - task(std::unique_lock< std::mutex > &lock) overrideutil::PeriodicTask< Clock >inlineprotectedvirtual - wait_for(std::unique_lock< std::mutex > &lock, const std::chrono::duration< Rep, Period > &dur)util::AsyncTask< std::chrono::steady_clock >inlineprotected - wait_until(std::unique_lock< std::mutex > &lock, const std::chrono::time_point< std::chrono::steady_clock > &tp)util::AsyncTask< std::chrono::steady_clock >inlineprotected - wait_until_done(std::unique_lock< std::mutex > &lock)util::AsyncTask< std::chrono::steady_clock >inlineprotected + setCrabCmdVel(double steerVel, double xVel)net::mc::tasks::PowerRepeatTask + setJointPower(robot::types::jointid_t id, double power)net::mc::tasks::PowerRepeatTask + setTankCmdVel(double steerVel, double xVel)net::mc::tasks::PowerRepeatTask + setTurnInPlaceCmdVel(double steerVel)net::mc::tasks::PowerRepeatTask + start() overridenet::mc::tasks::PowerRepeatTaskvirtual + stop() overridenet::mc::tasks::PowerRepeatTaskvirtual + task(std::unique_lock< std::mutex > &lock) overrideutil::PeriodicTask< Clock >inlineprotectedvirtual + wait_for(std::unique_lock< std::mutex > &lock, const std::chrono::duration< Rep, Period > &dur)util::AsyncTask< std::chrono::steady_clock >inlineprotected + wait_until(std::unique_lock< std::mutex > &lock, const std::chrono::time_point< std::chrono::steady_clock > &tp)util::AsyncTask< std::chrono::steady_clock >inlineprotected + wait_until_done(std::unique_lock< std::mutex > &lock)util::AsyncTask< std::chrono::steady_clock >inlineprotected
diff --git a/classnet_1_1mc_1_1tasks_1_1PowerRepeatTask.html b/classnet_1_1mc_1_1tasks_1_1PowerRepeatTask.html index 7d1ac5462..6cb132662 100644 --- a/classnet_1_1mc_1_1tasks_1_1PowerRepeatTask.html +++ b/classnet_1_1mc_1_1tasks_1_1PowerRepeatTask.html @@ -146,6 +146,15 @@ void setCmdVel (double steerVel, double xVel)  Set the drive command to resend.
  +void setTankCmdVel (double steerVel, double xVel) + Set the tank drive command to resend.
+  +void setTurnInPlaceCmdVel (double steerVel) + Set the turn-in-place drive command to resend.
+  +void setCrabCmdVel (double steerVel, double xVel) + Set the crab drive command to resend.
+  void start () override  Start the task.
  @@ -219,6 +228,30 @@

+

◆ setCrabCmdVel()

+ +
+
+ + + + + + + + + + + +
void net::mc::tasks::PowerRepeatTask::setCrabCmdVel (double steerVel,
double xVel )
+
+ +

Set the crab drive command to resend.

+

This does not execute the drive command right now.

+
@@ -243,6 +276,50 @@

+

◆ setTankCmdVel()

+ +
+
+ + + + + + + + + + + +
void net::mc::tasks::PowerRepeatTask::setTankCmdVel (double steerVel,
double xVel )
+
+ +

Set the tank drive command to resend.

+

This does not execute the drive command right now.

+ +
+
+ +

◆ setTurnInPlaceCmdVel()

+ +
+
+ + + + + + + +
void net::mc::tasks::PowerRepeatTask::setTurnInPlaceCmdVel (double steerVel)
+
+ +

Set the turn-in-place drive command to resend.

+

This does not execute the drive command right now.

+
diff --git a/control__interface_8h_source.html b/control__interface_8h_source.html index e025f9068..fa6120359 100644 --- a/control__interface_8h_source.html +++ b/control__interface_8h_source.html @@ -110,19 +110,22 @@
9
18double setCmdVel(double dtheta, double dx);
19
-
26void setJointPower(types::jointid_t joint, double power);
-
27
-
34void setJointPos(types::jointid_t joint, int32_t targetPos);
-
35
-
41types::DataPoint<int32_t> getJointPos(types::jointid_t joint);
-
42
-
43} // namespace robot
+
28double setTankCmdVel(double left, double right);
+
29
+
36void setJointPower(types::jointid_t joint, double power);
+
37
+
44void setJointPos(types::jointid_t joint, int32_t targetPos);
+
45
+
51types::DataPoint<int32_t> getJointPos(types::jointid_t joint);
+
52
+
53} // namespace robot
int32_t
::int32_t int32_t
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
-
robot::getJointPos
types::DataPoint< int32_t > getJointPos(robot::types::jointid_t joint)
Definition control_interface.cpp:100
-
robot::setJointPos
void setJointPos(robot::types::jointid_t joint, int32_t targetPos)
Set the position of the specified joint.
Definition control_interface.cpp:70
-
robot::setCmdVel
double setCmdVel(double dtheta, double dx)
Request the robot to drive at the given velocities.
Definition control_interface.cpp:36
-
robot::setJointPower
void setJointPower(robot::types::jointid_t joint, double power)
Set the power of the specified joint.
Definition control_interface.cpp:58
+
robot::getJointPos
types::DataPoint< int32_t > getJointPos(robot::types::jointid_t joint)
Definition control_interface.cpp:150
+
robot::setTankCmdVel
double setTankCmdVel(double left, double right)
Request the robot to drive in tank style, where each side is controlled individually.
Definition control_interface.cpp:73
+
robot::setJointPos
void setJointPos(robot::types::jointid_t joint, int32_t targetPos)
Set the position of the specified joint.
Definition control_interface.cpp:120
+
robot::setCmdVel
double setCmdVel(double dtheta, double dx)
Request the robot to drive at the given velocities.
Definition control_interface.cpp:38
+
robot::setJointPower
void setJointPower(robot::types::jointid_t joint, double power)
Set the power of the specified joint.
Definition control_interface.cpp:108
diff --git a/core_8h_source.html b/core_8h_source.html index 3fa7361af..6e2a22eb7 100644 --- a/core_8h_source.html +++ b/core_8h_source.html @@ -126,7 +126,7 @@
37
50template <typename T>
-
51std::string to_string(const T& val) {
+
51std::string to_string(const T& val) {
52 return std::to_string(val);
53}
@@ -183,8 +183,7 @@
util::RAIIHelper
A helper class for executing a function when leaving a scope, in RAII-style.
Definition core.h:85
util::RAIIHelper::RAIIHelper
RAIIHelper(const std::function< void()> &f)
Construct a new RAIIHelper.
Definition core.cpp:18
util::RAIIHelper::~RAIIHelper
~RAIIHelper()
Destroy the RAIIHelper object, executing the given function, if not empty.
Definition core.cpp:24
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
-
util::to_string
std::string to_string(const T &val)
Convert the given value to a string.
Definition core.h:51
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
util::freezeStr
frozen::string freezeStr(const std::string &str)
Convert the given std::string to a frozen::string.
Definition core.cpp:14
util::almostEqual
bool almostEqual(double a, double b, double threshold)
Check if two numbers are approximately equal.
Definition core.cpp:5
util::to_string< bool >
std::string to_string< bool >(const bool &val)
Converts a boolean to a string.
Definition core.cpp:10
diff --git a/data_8h_source.html b/data_8h_source.html index 2f2f0661b..4dbb606ba 100644 --- a/data_8h_source.html +++ b/data_8h_source.html @@ -173,138 +173,146 @@
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};
+
85 frontLeftSwerve,
+
86 frontRightSwerve,
+
87 rearLeftSwerve,
+
88 rearRightSwerve,
+
89 armBase,
+
90 shoulder,
+
91 elbow,
+
92 forearm,
+
93 wrist,
+
94 hand,
+
95 activeSuspension,
+
96 ikForward,
+
97 ikUp
+
98};
+
99
+
100constexpr auto all_jointid_t = frozen::make_unordered_set<jointid_t>(
+
101 {jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
+
102 jointid_t::wrist, jointid_t::hand, jointid_t::activeSuspension, jointid_t::ikForward,
+
103 jointid_t::ikUp});
+
104
+
105constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, jointid_t>(
+
106 {{"frontLeftSwerve", jointid_t::frontLeftSwerve},
+
107 {"frontRightSwerve", jointid_t::frontRightSwerve},
+
108 {"rearLeftSwerve", jointid_t::rearLeftSwerve},
+
109 {"rearRightSwerve", jointid_t::rearRightSwerve},
+
110 {"armBase", jointid_t::armBase},
+
111 {"shoulder", jointid_t::shoulder},
+
112 {"elbow", jointid_t::elbow},
+
113 {"forearm", jointid_t::forearm},
+
114 {"wrist", jointid_t::wrist},
+
115 {"hand", jointid_t::hand},
+
116 {"activeSuspension", jointid_t::activeSuspension},
+
117 {"ikForward", jointid_t::ikForward},
+
118 {"ikUp", jointid_t::ikUp}});
+
119
+
+
120class bad_datapoint_access : public std::runtime_error {
+
121public:
+
122 bad_datapoint_access() : std::runtime_error("bad_datapoint_access") {}
+
123};
-
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}) {}
+
124
+
130template <typename T>
+
+
131class DataPoint {
+
132public:
+
136 DataPoint() : datapoint() {}
+
137
+
143 DataPoint(T data) : DataPoint(dataclock::now(), data) {}
144
-
-
150 operator bool() const {
-
151 return isValid();
-
152 }
+
151 DataPoint(datatime_t time, T data) : datapoint({time, data}) {}
+
152
+
+
158 operator bool() const {
+
159 return isValid();
+
160 }
-
153
-
-
161 bool isFresh(std::chrono::milliseconds duration) const {
-
162 return isValid() && dataclock::now() - duration <= getTime();
-
163 }
+
161
+
+
169 bool isFresh(std::chrono::milliseconds duration) const {
+
170 return isValid() && dataclock::now() - duration <= getTime();
+
171 }
-
164
-
-
170 bool isValid() const {
-
171 return datapoint.has_value();
-
172 }
+
172
+
+
178 bool isValid() const {
+
179 return datapoint.has_value();
+
180 }
-
173
-
-
180 datatime_t getTime() const {
-
181 return datapoint.value().first;
-
182 }
+
181
+
+
188 datatime_t getTime() const {
+
189 return datapoint.value().first;
+
190 }
-
183
-
-
190 T getData() const {
-
191 if (isValid()) {
-
192 return datapoint.value().second;
-
193 } else {
-
194 throw bad_datapoint_access();
-
195 }
-
196 }
+
191
+
+
198 T getData() const {
+
199 if (isValid()) {
+
200 return datapoint.value().second;
+
201 } else {
+
202 throw bad_datapoint_access();
+
203 }
+
204 }
-
197
-
-
205 T getDataOrElse(T defaultData) {
-
206 return isValid() ? getData() : defaultData;
-
207 }
+
205
+
+
213 T getDataOrElse(T defaultData) {
+
214 return isValid() ? getData() : defaultData;
+
215 }
-
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 }
+
216
+
226 template <typename F>
+
+
227 DataPoint<std::invoke_result_t<F, T>> transform(const F& f) {
+
228 if (isValid()) {
+
229 return DataPoint<std::invoke_result_t<F, T>>(getTime(), f(getData()));
+
230 } else {
+
231 return {};
+
232 }
+
233 }
-
226
-
227private:
-
231 std::optional<std::pair<datatime_t, T>> datapoint;
-
232};
+
234
+
235private:
+
239 std::optional<std::pair<datatime_t, T>> datapoint;
+
240};
-
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
-
302private:
-
303 std::bitset<N_LIMIT_SWITCH> data;
-
304};
+
245constexpr size_t N_LIMIT_SWITCH = 8;
+
246
+
247constexpr int LIMIT_SWITCH_LIM_MIN_IDX = 0;
+
248constexpr int LIMIT_SWITCH_LIM_MAX_IDX = 1;
+
249
+
+
253class LimitSwitchData {
+
254public:
+
263 LimitSwitchData(unsigned long long data);
+
264
+
273 bool isOpen(size_t idx);
+
274
+
283 bool isClosed(size_t idx);
+
284
+
290 bool isAnyOpen();
+
291
+
297 bool isAnyClosed();
+
298
+
308 std::bitset<N_LIMIT_SWITCH> diff(const LimitSwitchData& other);
+
309
+
310private:
+
311 std::bitset<N_LIMIT_SWITCH> data;
+
312};
-
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
+
313
+
314} // namespace robot::types
+
315
+
316namespace util {
+
317std::string to_string(robot::types::jointid_t joint);
+
318std::string to_string(const robot::types::CameraID& id);
+
319std::string to_string(robot::types::mountedperipheral_t peripheral);
+
320} // namespace util
@@ -318,24 +326,24 @@ -
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::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
+
robot::types::DataPoint::isFresh
bool isFresh(std::chrono::milliseconds duration) const
Check if this measurement was taken recently.
Definition data.h:169
+
robot::types::DataPoint::DataPoint
DataPoint(T data)
Construct a new DataPoint object, measured now.
Definition data.h:143
+
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:198
+
robot::types::DataPoint::DataPoint
DataPoint(datatime_t time, T data)
Construct a new DataPoint object, measured at the given time.
Definition data.h:151
+
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:188
+
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:178
+
robot::types::DataPoint::DataPoint
DataPoint()
Construct an invalid DataPoint, holding no data.
Definition data.h:136
+
robot::types::DataPoint::transform
DataPoint< std::invoke_result_t< F, T > > transform(const F &f)
Transforms the data in this datapoint by the given function.
Definition data.h:227
+
robot::types::DataPoint::getDataOrElse
T getDataOrElse(T defaultData)
Get the value of this data point, defaulting to a given value if this data point is invalid.
Definition data.h:213
+
robot::types::LimitSwitchData
A class that represents limit switches from a specific motor.
Definition data.h:253
robot::types::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:112
+
robot::types::bad_datapoint_access
Definition data.h:120
none
none
robot::types
Types for use in the world interface.
Definition data.cpp:3
@@ -344,9 +352,8 @@
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:76
robot::types::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: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
+
robot::types::N_LIMIT_SWITCH
constexpr size_t N_LIMIT_SWITCH
The maximum number of limit switches associated with any motor.
Definition data.h:245
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
diff --git a/dir_b81b067251166617f9d0a8c0cfc3a4a9.html b/dir_b81b067251166617f9d0a8c0cfc3a4a9.html index 5cd9ae754..0959819c7 100644 --- a/dir_b81b067251166617f9d0a8c0cfc3a4a9.html +++ b/dir_b81b067251166617f9d0a8c0cfc3a4a9.html @@ -119,6 +119,8 @@    PlanarArmController.h   + SwerveController.h +   TrapezoidalVelocityProfile.h   diff --git a/doc_8h_source.html b/doc_8h_source.html index a1e8426e5..181fc00be 100644 --- a/doc_8h_source.html +++ b/doc_8h_source.html @@ -104,7 +104,7 @@
3// This file only exists for the doxygen namespace comment.
4
9namespace util {};
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
diff --git a/doxygen_crawl.html b/doxygen_crawl.html index 10051803f..4130ead7a 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -31,6 +31,7 @@ + @@ -115,6 +116,8 @@ + + @@ -125,6 +128,10 @@ + + + + @@ -426,6 +433,7 @@ + @@ -558,6 +566,18 @@ + + + + + + + + + + + + @@ -677,9 +697,12 @@ + + + @@ -972,6 +995,7 @@ + @@ -1079,6 +1103,8 @@ + + diff --git a/files.html b/files.html index 8776d42f7..b5d39a71f 100644 --- a/files.html +++ b/files.html @@ -128,60 +128,61 @@  JacobianVelController.h  PIDControl.h  PlanarArmController.h - TrapezoidalVelocityProfile.h - ▼ filters - ExtendedKalmanFilter.h - KalmanFilter.h - KalmanFilterBase.h - MultiSensorEKF.h - RollingAvgFilter.h - StateSpaceUtil.h - ▼ gps - ▼ usb_gps - read_usb_gps.h - gps_util.h - ▼ kinematics - ArmKinematics.h - DiffDriveKinematics.h - DiffWristKinematics.h - FabrikSolver.h - ForwardArmKinematics.h - InverseArmKinematics.h - PlanarArmFK.h - SwerveDriveKinematics.h - ▼ network - ▼ websocket - WebSocketProtocol.h - WebSocketServer.h - MissionControlMessages.h - MissionControlProtocol.h - MissionControlTasks.h - ▼ utils - core.h - doc.h - json.h - math.h - random.h - scheduler.h - ScopedTimer.h - threading.h - time.h - transform.h - ▼ video - encoder.hpp - H264Encoder.h - ▼ world_interface - ▼ motor - base_motor.h - can_motor.h - sim_motor.h - data.h - real_world_constants.h - world_interface.h - Constants.h - control_interface.h - Globals.h - navtypes.h + SwerveController.h + TrapezoidalVelocityProfile.h + ▼ filters + ExtendedKalmanFilter.h + KalmanFilter.h + KalmanFilterBase.h + MultiSensorEKF.h + RollingAvgFilter.h + StateSpaceUtil.h + ▼ gps + ▼ usb_gps + read_usb_gps.h + gps_util.h + ▼ kinematics + ArmKinematics.h + DiffDriveKinematics.h + DiffWristKinematics.h + FabrikSolver.h + ForwardArmKinematics.h + InverseArmKinematics.h + PlanarArmFK.h + SwerveDriveKinematics.h + ▼ network + ▼ websocket + WebSocketProtocol.h + WebSocketServer.h + MissionControlMessages.h + MissionControlProtocol.h + MissionControlTasks.h + ▼ utils + core.h + doc.h + json.h + math.h + random.h + scheduler.h + ScopedTimer.h + threading.h + time.h + transform.h + ▼ video + encoder.hpp + H264Encoder.h + ▼ world_interface + ▼ motor + base_motor.h + can_motor.h + sim_motor.h + data.h + real_world_constants.h + world_interface.h + Constants.h + control_interface.h + Globals.h + navtypes.h
diff --git a/functions_c.html b/functions_c.html index 9908168b3..0c343d004 100644 --- a/functions_c.html +++ b/functions_c.html @@ -98,6 +98,7 @@

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diff --git a/functions_g.html b/functions_g.html index 3485368c2..d4920b255 100644 --- a/functions_g.html +++ b/functions_g.html @@ -113,6 +113,7 @@

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diff --git a/hierarchy.html b/hierarchy.html index 122c87c4d..a80f1c5b5 100644 --- a/hierarchy.html +++ b/hierarchy.html @@ -116,80 +116,83 @@  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 - ▼Cstd::runtime_error [external] - Crobot::types::bad_datapoint_access - ▼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::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< 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::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 + Ccontrol::drive_commands_tThe power commands to all four drive motors + Ch264encoder::Encoder + Ch264encoder::EncoderImpl + Crobot::encparams_t + Cnavtypes::eulerangles_t + ▼Cstd::exception [external] + Ccam::invalid_camera_configException for errors in the camera configuration + ▼Cstd::runtime_error [external] + Crobot::types::bad_datapoint_access + ▼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::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< 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::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 + Ccontrol::swerve_rots_tRepresents the rotations of all four steer motors in in millidegrees + Ccontrol::SwerveControllerController to handle the wheel rotations for driving with swerve modes + 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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@@

min
static softfloat min()
max
static softfloat max()
nlohmann::json
basic_json<> json
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
util::validateOneOf
bool validateOneOf(const json &j, const std::string &key, const std::unordered_set< std::string > &vals)
Check if the value in the given json object at the given key is a string in the given set of allowed ...
Definition json.cpp:18
util::validateRange
bool validateRange(const json &j, const std::string &key, double min, double max)
Check if the value in the given json object at the given key is a floating-point number between min a...
Definition json.cpp:25
util::hasKey
bool hasKey(const json &j, const std::string &key)
Check if the given json object has the given key.
Definition json.cpp:5
diff --git a/math_8h_source.html b/math_8h_source.html index f0bbf023d..6406c026b 100644 --- a/math_8h_source.html +++ b/math_8h_source.html @@ -112,7 +112,7 @@
23 const Eigen::VectorXd& x, int outputDim);
24
25} // namespace util
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
util::numericalJacobian
Eigen::MatrixXd numericalJacobian(const std::function< Eigen::VectorXd(const Eigen::VectorXd &)> &func, const Eigen::VectorXd &x, int outputDim)
Estimate the jacobian of a multivariate function using finite differences.
Definition math.cpp:6
util::epsilon
constexpr double epsilon
A small positive value, near zero.
Definition math.h:10
diff --git a/namespacemembers.html b/namespacemembers.html index 3c9f0ff00..bf2d59fe3 100644 --- a/namespacemembers.html +++ b/namespacemembers.html @@ -258,6 +258,7 @@

- s -

diff --git a/namespacemembers_func.html b/namespacemembers_func.html index 6cc47672c..942113a6e 100644 --- a/namespacemembers_func.html +++ b/namespacemembers_func.html @@ -220,6 +220,7 @@

- s -

diff --git a/namespacerobot.html b/namespacerobot.html index 2d6b09b10..9ff62f29d 100644 --- a/namespacerobot.html +++ b/namespacerobot.html @@ -154,6 +154,9 @@ double setCmdVel (double dtheta, double dx)  Request the robot to drive at the given velocities.
  +double setTankCmdVel (double left, double right) + Request the robot to drive in tank style, where each side is controlled individually.
+  void setJointPower (types::jointid_t joint, double power)  Set the power of the specified joint.
  @@ -966,6 +969,37 @@

+

◆ setTankCmdVel()

+ +
+
+ + + + + + + + + + + +
double robot::setTankCmdVel (double left,
double right )
+
+ +

Request the robot to drive in tank style, where each side is controlled individually.

+
Parameters
+ + + +
leftThe left velocity.
rightThe right velocity.
+
+
+
Returns
double If the requested velocities are too high, they will be scaled down. The returned value is the scale divisor. If no scaling was performed, 1 is returned.
+
diff --git a/namespacerobot_1_1types.html b/namespacerobot_1_1types.html index c884af8ee..36ade1de2 100644 --- a/namespacerobot_1_1types.html +++ b/namespacerobot_1_1types.html @@ -185,6 +185,11 @@  the mounted peripheral on the robot.
  enum class  jointid_t {
+  frontLeftSwerve +, frontRightSwerve +, rearLeftSwerve +, rearRightSwerve +,
  armBase , shoulder , elbow @@ -284,7 +289,11 @@

Initial value:
= frozen::make_unordered_map<frozen::string, jointid_t>(
-
{{"armBase", jointid_t::armBase},
+
{{"frontLeftSwerve", jointid_t::frontLeftSwerve},
+
{"frontRightSwerve", jointid_t::frontRightSwerve},
+
{"rearLeftSwerve", jointid_t::rearLeftSwerve},
+
{"rearRightSwerve", jointid_t::rearRightSwerve},
+
{"armBase", jointid_t::armBase},
{"shoulder", jointid_t::shoulder},
{"elbow", jointid_t::elbow},
{"forearm", jointid_t::forearm},
diff --git a/namespaceutil.html b/namespaceutil.html index b588e2ac3..bc8a51e7e 100644 --- a/namespaceutil.html +++ b/namespaceutil.html @@ -142,6 +142,9 @@ + + @@ -686,7 +689,7 @@

- + @@ -714,7 +717,7 @@

- + diff --git a/random_8h_source.html b/random_8h_source.html index 8614419e3..01d67a0e4 100644 --- a/random_8h_source.html +++ b/random_8h_source.html @@ -108,7 +108,7 @@
22long getNormalSeed();
23
24} // namespace util
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
util::stdn
double stdn(int thread_id)
Sample from the standard normal distribution.
Definition random.cpp:24
util::getNormalSeed
long getNormalSeed()
Get the random seed used for util::stdn().
Definition random.cpp:20
diff --git a/scheduler_8h_source.html b/scheduler_8h_source.html index c824b4fb1..05f14b062 100644 --- a/scheduler_8h_source.html +++ b/scheduler_8h_source.html @@ -571,7 +571,7 @@
util::impl::Notifiable
Definition scheduler.h:20
uint64_t
::uint64_t uint64_t
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
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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:123
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
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/structcontrol_1_1drive__commands__t-members.html b/structcontrol_1_1drive__commands__t-members.html new file mode 100644 index 000000000..6fb19a413 --- /dev/null +++ b/structcontrol_1_1drive__commands__t-members.html @@ -0,0 +1,116 @@ + + + + + + + +Resurgence (PY2022): Member List + + + + + + + + + + + + + + + +
+
+

Functions

+std::string to_string (control::DriveMode mode)
 
bool almostEqual (double a, double b, double threshold=1e-6)
 Check if two numbers are approximately equal.
 
std::string util::to_string< bool > std::string util::to_string< bool > ( const bool & val)
std::string util::to_string< bool > std::string util::to_string< bool > ( const bool & val)
+ + + + + +
+
Resurgence (PY2022) +
+
Codebase for the Husky Robotics 2021-2022 rover Resurgence
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control::drive_commands_t Member List
+
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+ +

This is the complete list of members for control::drive_commands_t, including all inherited members.

+ + + + + +
lbPower (defined in control::drive_commands_t)control::drive_commands_t
lfPower (defined in control::drive_commands_t)control::drive_commands_t
rbPower (defined in control::drive_commands_t)control::drive_commands_t
rfPower (defined in control::drive_commands_t)control::drive_commands_t
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/structcontrol_1_1drive__commands__t.html b/structcontrol_1_1drive__commands__t.html new file mode 100644 index 000000000..a6540a6dc --- /dev/null +++ b/structcontrol_1_1drive__commands__t.html @@ -0,0 +1,138 @@ + + + + + + + +Resurgence (PY2022): control::drive_commands_t Struct Reference + + + + + + + + + + + + + + + +
+
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Resurgence (PY2022) +
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Codebase for the Husky Robotics 2021-2022 rover Resurgence
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+
control::drive_commands_t Struct Reference
+
+
+ +

The power commands to all four drive motors. + More...

+ +

#include <SwerveController.h>

+ + + + + + + + + + +

+Public Attributes

+double lfPower
 
+double rfPower
 
+double lbPower
 
+double rbPower
 
+

Detailed Description

+

The power commands to all four drive motors.

+
The documentation for this struct was generated from the following file: +
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/structcontrol_1_1swerve__rots__t-members.html b/structcontrol_1_1swerve__rots__t-members.html new file mode 100644 index 000000000..961276419 --- /dev/null +++ b/structcontrol_1_1swerve__rots__t-members.html @@ -0,0 +1,116 @@ + + + + + + + +Resurgence (PY2022): Member List + + + + + + + + + + + + + + + +
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control::swerve_rots_t Member List
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This is the complete list of members for control::swerve_rots_t, including all inherited members.

+ + + + + +
lbRot (defined in control::swerve_rots_t)control::swerve_rots_t
lfRot (defined in control::swerve_rots_t)control::swerve_rots_t
rbRot (defined in control::swerve_rots_t)control::swerve_rots_t
rfRot (defined in control::swerve_rots_t)control::swerve_rots_t
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/structcontrol_1_1swerve__rots__t.html b/structcontrol_1_1swerve__rots__t.html new file mode 100644 index 000000000..75328bd3b --- /dev/null +++ b/structcontrol_1_1swerve__rots__t.html @@ -0,0 +1,138 @@ + + + + + + + +Resurgence (PY2022): control::swerve_rots_t Struct Reference + + + + + + + + + + + + + + + +
+
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control::swerve_rots_t Struct Reference
+
+
+ +

Represents the rotations of all four steer motors in in millidegrees. + More...

+ +

#include <SwerveController.h>

+ + + + + + + + + + +

+Public Attributes

+int lfRot
 
+int rfRot
 
+int lbRot
 
+int rbRot
 
+

Detailed Description

+

Represents the rotations of all four steer motors in in millidegrees.

+
The documentation for this struct was generated from the following file: +
+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/threading_8h_source.html b/threading_8h_source.html index 51080dfcf..6cd1a30cb 100644 --- a/threading_8h_source.html +++ b/threading_8h_source.html @@ -161,7 +161,7 @@
util::latch::latch
latch(std::size_t count)
Create a new latch.
Definition threading.cpp:5
util::latch::wait_for
bool wait_for(const std::chrono::duration< Rep, Period > &dur) const
Wait until the latch is unlocked, with a timeout.
Definition threading.h:42
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
diff --git a/time_8h_source.html b/time_8h_source.html index 58a347ec1..22e9d3497 100644 --- a/time_8h_source.html +++ b/time_8h_source.html @@ -118,7 +118,7 @@
std::chrono::duration_cast
constexpr __enable_if_is_duration< _ToDur > duration_cast(const duration< _Rep, _Period > &__d)
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
util::durationToSec
double durationToSec(std::chrono::duration< Rep, Period > dur)
Convert a duration to seconds, as a double.
Definition time.h:18
diff --git a/transform_8h_source.html b/transform_8h_source.html index ca3f4c619..4030a4c83 100644 --- a/transform_8h_source.html +++ b/transform_8h_source.html @@ -132,7 +132,7 @@
134} // namespace util
-
util
A collection of utility functions and classes with common use-cases.
Definition core.cpp:3
+
util
A collection of utility functions and classes with common use-cases.
Definition SwerveController.cpp:141
util::collides
bool collides(const transform_t &tf, const points_t &ps, double radius)
Check for intersection between a pose and a point cloud.
Definition transform.cpp:48
util::toTransformRotateFirst
transform_t toTransformRotateFirst(double x, double y, double theta)
Creates a rigid transform that takes a point from the map-frame to a frame that was rotated CCW by th...
Definition transform.cpp:62
util::quatToHeading
double quatToHeading(double qw, double qx, double qy, double qz)
Extract the heading from a quaternion.
Definition transform.cpp:9
diff --git a/world__interface_8h_source.html b/world__interface_8h_source.html index ff5048340..cbd463d85 100644 --- a/world__interface_8h_source.html +++ b/world__interface_8h_source.html @@ -122,96 +122,103 @@
21
26namespace robot {
27
-
33enum class WorldInterface { real, sim2d, sim3d, noop };
-
34
-
36extern const WorldInterface WORLD_INTERFACE;
-
37
-
38// TODO: add documentation
-
39const kinematics::DiffDriveKinematics& driveKinematics();
-
40const kinematics::DiffWristKinematics& wristKinematics();
-
41
-
53void world_interface_init(
-
54 std::optional<std::reference_wrapper<net::websocket::SingleClientWSServer>> wsServer,
-
55 bool initOnlyMotors = false);
-
56
-
63std::shared_ptr<robot::base_motor> getMotor(robot::types::motorid_t motor);
-
64
-
70void emergencyStop();
-
71
-
77bool isEmergencyStopped();
-
78
-
85std::unordered_set<types::CameraID> getCameras();
-
86
-
95bool hasNewCameraFrame(types::CameraID camera, uint32_t oldFrameNum);
-
96
-
105types::DataPoint<types::CameraFrame> readCamera(types::CameraID camera);
-
106
-
113std::optional<cam::CameraParams> getCameraIntrinsicParams(types::CameraID camera);
-
114
-
121std::optional<cv::Mat> getCameraExtrinsicParams(types::CameraID camera);
-
122
-
131types::landmarks_t readLandmarks();
-
132
-
138bool gpsHasFix();
-
139
-
146types::DataPoint<navtypes::point_t> readGPS();
-
147
-
154types::DataPoint<double> readIMUHeading();
-
155
-
161types::DataPoint<Eigen::Quaterniond> readIMU();
-
162
-
168types::DataPoint<navtypes::pose_t> getTruePose();
-
169
-
177std::optional<navtypes::point_t> gpsToMeters(const navtypes::gpscoords_t& coord);
-
178
-
184void setIndicator(types::indication_t signal);
-
185
-
192void setMotorPower(robot::types::motorid_t motor, double power);
-
193
-
202void setMotorPos(robot::types::motorid_t motor, int32_t targetPos);
-
203
-
210void setMotorVel(robot::types::motorid_t motor, int32_t targetVel);
-
211
-
220types::DataPoint<int32_t> getMotorPos(robot::types::motorid_t motor);
-
221
-
222using callbackid_t = unsigned long long;
-
223
-
224callbackid_t addLimitSwitchCallback(
-
225 robot::types::motorid_t motor,
-
226 const std::function<void(
-
227 robot::types::motorid_t motor,
-
228 robot::types::DataPoint<robot::types::LimitSwitchData> limitSwitchData)>& callback);
-
229
-
230void removeLimitSwitchCallback(callbackid_t id);
-
231
-
243template <unsigned long int N>
-
244types::DataPoint<navtypes::Vectord<N>>
-
-
245getMotorPositionsRad(const std::array<types::motorid_t, N>& motors) {
-
246 navtypes::Vectord<N> motorPositions;
-
247 std::optional<types::datatime_t> timestamp;
-
248 for (size_t i = 0; i < motors.size(); i++) {
-
249 types::DataPoint<int32_t> positionDataPoint = robot::getMotorPos(motors[i]);
-
250 if (positionDataPoint.isValid()) {
-
251 if (!timestamp.has_value() || timestamp > positionDataPoint.getTime()) {
-
252 timestamp = positionDataPoint.getTime();
-
253 }
-
254 double position = static_cast<double>(positionDataPoint.getData());
-
255 position *= M_PI / 180.0 / 1000.0;
-
256 motorPositions(i) = position;
-
257 } else {
-
258 return {};
-
259 }
-
260 }
-
261 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
-
262}
+
+
33enum class WorldInterface {
+
34 real,
+
35 sim2d,
+
36 sim3d,
+
37 noop
+
38};
-
263
-
264} // namespace robot
-
265
-
266namespace gps {
-
274robot::types::DataPoint<navtypes::gpscoords_t> readGPSCoords();
-
275} // namespace gps
+
39
+
41extern const WorldInterface WORLD_INTERFACE;
+
42
+
43// TODO: add documentation
+
44const kinematics::DiffDriveKinematics& driveKinematics();
+
45const kinematics::DiffWristKinematics& wristKinematics();
+
46
+
58void world_interface_init(
+
59 std::optional<std::reference_wrapper<net::websocket::SingleClientWSServer>> wsServer,
+
60 bool initOnlyMotors = false);
+
61
+
68std::shared_ptr<robot::base_motor> getMotor(robot::types::motorid_t motor);
+
69
+
75void emergencyStop();
+
76
+
82bool isEmergencyStopped();
+
83
+
90std::unordered_set<types::CameraID> getCameras();
+
91
+
100bool hasNewCameraFrame(types::CameraID camera, uint32_t oldFrameNum);
+
101
+
110types::DataPoint<types::CameraFrame> readCamera(types::CameraID camera);
+
111
+
118std::optional<cam::CameraParams> getCameraIntrinsicParams(types::CameraID camera);
+
119
+
126std::optional<cv::Mat> getCameraExtrinsicParams(types::CameraID camera);
+
127
+
136types::landmarks_t readLandmarks();
+
137
+
143bool gpsHasFix();
+
144
+
151types::DataPoint<navtypes::point_t> readGPS();
+
152
+
159types::DataPoint<double> readIMUHeading();
+
160
+
166types::DataPoint<Eigen::Quaterniond> readIMU();
+
167
+
173types::DataPoint<navtypes::pose_t> getTruePose();
+
174
+
182std::optional<navtypes::point_t> gpsToMeters(const navtypes::gpscoords_t& coord);
+
183
+
189void setIndicator(types::indication_t signal);
+
190
+
197void setMotorPower(robot::types::motorid_t motor, double power);
+
198
+
207void setMotorPos(robot::types::motorid_t motor, int32_t targetPos);
+
208
+
215void setMotorVel(robot::types::motorid_t motor, int32_t targetVel);
+
216
+
225types::DataPoint<int32_t> getMotorPos(robot::types::motorid_t motor);
+
226
+
227using callbackid_t = unsigned long long;
+
228
+
229callbackid_t addLimitSwitchCallback(
+
230 robot::types::motorid_t motor,
+
231 const std::function<void(
+
232 robot::types::motorid_t motor,
+
233 robot::types::DataPoint<robot::types::LimitSwitchData> limitSwitchData)>& callback);
+
234
+
235void removeLimitSwitchCallback(callbackid_t id);
+
236
+
248template <unsigned long int N>
+
249types::DataPoint<navtypes::Vectord<N>>
+
+
250getMotorPositionsRad(const std::array<types::motorid_t, N>& motors) {
+
251 navtypes::Vectord<N> motorPositions;
+
252 std::optional<types::datatime_t> timestamp;
+
253 for (size_t i = 0; i < motors.size(); i++) {
+
254 types::DataPoint<int32_t> positionDataPoint = robot::getMotorPos(motors[i]);
+
255 if (positionDataPoint.isValid()) {
+
256 if (!timestamp.has_value() || timestamp > positionDataPoint.getTime()) {
+
257 timestamp = positionDataPoint.getTime();
+
258 }
+
259 double position = static_cast<double>(positionDataPoint.getData());
+
260 position *= M_PI / 180.0 / 1000.0;
+
261 motorPositions(i) = position;
+
262 } else {
+
263 return {};
+
264 }
+
265 }
+
266 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
+
267}
+
+
268
+
269} // namespace robot
+
270
+
271namespace gps {
+
279robot::types::DataPoint<navtypes::gpscoords_t> readGPSCoords();
+
280} // namespace gps
@@ -222,10 +229,10 @@
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: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
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:131
+
robot::types::DataPoint::getData
T getData() const
Get the value of this data point.
Definition data.h:198
+
robot::types::DataPoint::getTime
datatime_t getTime() const
Get the time at which the measurement was taken.
Definition data.h:188
+
robot::types::DataPoint::isValid
bool isValid() const
Check if this measurement is valid.
Definition data.h:178
cam
Namespace for camera access system.
Definition Camera.cpp:13
uint32_t
::uint32_t uint32_t
int32_t
::int32_t int32_t
@@ -236,20 +243,20 @@
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: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::readCamera
DataPoint< CameraFrame > readCamera(CameraID cameraID)
Read the latest frame from the given camera.
Definition real_world_interface.cpp:176
+
robot::hasNewCameraFrame
bool hasNewCameraFrame(CameraID cameraID, uint32_t oldFrameNum)
Check if a new camera frame from the specified camera is available.
Definition real_world_interface.cpp:166
robot::isEmergencyStopped
bool isEmergencyStopped()
Check if the robot has been emergency stopped.
Definition noop_world.cpp:40
-
robot::getCameraIntrinsicParams
std::optional< cam::CameraParams > getCameraIntrinsicParams(CameraID cameraID)
Get the intrinsic params of the specified camera, if it exists.
Definition real_world_interface.cpp:204
+
robot::getCameraIntrinsicParams
std::optional< cam::CameraParams > getCameraIntrinsicParams(CameraID cameraID)
Get the intrinsic params of the specified camera, if it exists.
Definition real_world_interface.cpp:194
robot::getTruePose
DataPoint< pose_t > getTruePose()
Get the ground truth pose, if available.
Definition noop_world.cpp:52
robot::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:172
+
robot::getCameras
std::unordered_set< CameraID > getCameras()
Get the IDs of the currently supported cameras.
Definition real_world_interface.cpp:162
robot::getMotor
std::shared_ptr< robot::base_motor > getMotor(robot::types::motorid_t motor)
Get a pointer to the motor object associated with the motor id.
Definition noop_world.cpp:34
-
robot::getMotorPositionsRad
types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad(const std::array< types::motorid_t, N > &motors)
Get the positions in radians of multiple motors at the same time.
Definition world_interface.h:245
+
robot::getMotorPositionsRad
types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad(const std::array< types::motorid_t, N > &motors)
Get the positions in radians of multiple motors at the same time.
Definition world_interface.h:250
robot::setMotorVel
void setMotorVel(robot::types::motorid_t motor, int32_t targetVel)
Sets the velocity of the given motor.
Definition noop_world.cpp:64
robot::WorldInterface
WorldInterface
An enum which defines the possible types of world interfaces.
Definition world_interface.h:33
robot::emergencyStop
void emergencyStop()
Emergency stop all motors.
Definition noop_world.cpp:38
robot::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:216
+
robot::getCameraExtrinsicParams
std::optional< cv::Mat > getCameraExtrinsicParams(CameraID cameraID)
Get the extrinsic params of the specified camera, if it exists.
Definition real_world_interface.cpp:206
robot::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