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Rickxu2/engineer2024#77

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Andd54 wants to merge 175 commits intomainillini-robomaster/iRM_Embedded_2023:mainfrom rickxu2/Engineer2024illini-robomaster/iRM_Embedded_2023:rickxu2/Engineer2024Copy head branch name to clipboard

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Commits

Commits on Jul 13, 2023

• add base translate motor to arm

  AzulRadio

  committed
  7c3eba0

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• edit comment for steering motor example

  AzulRadio

  committed
  3a2577e

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Commits on Jul 17, 2023

• add forearm rotate motor 4310

  AzulRadio

  committed
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Commits on Jul 18, 2023

• add elbow rotate motor

  AzulRadio

  committed
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Commits on Jul 27, 2023

• add library for engineer arm

  AzulRadio

  committed
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• Merge branch 'main' into youhy/arm_driver

  AzulRadio

  committed
  4afb213

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• fix upstream API changes for 4310

  AzulRadio

  committed
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Commits on Jul 31, 2023

• [chore]: Add engineer dbus control demo

  MD-20880

  committed
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• [chore]: Add motor can id

  MD-20880

  committed
  3e90484

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• [chore]: Upload staged outcome

  MD-20880

  committed
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Commits on Aug 1, 2023

• [chore]: Staged change

  MD-20880

  committed
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Commits on Aug 2, 2023

• [update]: Engineer chassis skeleton done

  MD-20880

  committed
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• [chore]: Update engineer arm code skeleton.

  MD-20880

  committed
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• [chore] optimize steering logic

  MD-20880

  committed
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• [chore]:add ui_skeleton

  MD-20880

  committed
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• [update]: chassis move complete

  MD-20880

  committed
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Commits on Aug 3, 2023

• [chore]: sync

  MD-20880

  committed
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• [chore]: Sync Again

  MD-20880

  committed
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• [feat] 0.1 ver

  AlchemicRonin

  committed
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Commits on Aug 5, 2023

• [update]: Engineer arm update, 4310 control available.

  MD-20880

  committed
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• [feat] sync

  AlchemicRonin

  committed
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Commits on Jan 29, 2024

• steer motors now ok

  rickxu2

  committed
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• delete test number

  rickxu2

  committed
  53bd572

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Commits on Feb 3, 2024

• fixed mistake in comparing the two opposite directions of steer

  rickxu2

  committed
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• progress save

  jerrywrx

  committed
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Commits on Feb 10, 2024

• remove power limit

  rickxu2

  committed
  f0c3ac0

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Commits on Feb 18, 2024

• add 3 joints 4310 example in m4310_mit.cc

  jerrywrx

  committed
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• RTE_Components.h not found

  jerrywrx

  committed
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• save remote config

  jerrywrx

  committed
  810d8ac

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• update chassis directions

  jerrywrx

  committed
  abdb825

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• dbus works on mc01

  jerrywrx

  committed
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• upload updated board config files

  jerrywrx

  committed
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Commits on Feb 25, 2024

• m3508 works; m4310 CAN tx not transmitting (pending transmission request in tx mailbox

  jerrywrx

  committed
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• Merge branch 'main' into jerrywrx/dm_mc_01

  jerrywrx

  committed
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Commits on Apr 6, 2024

• A1 works on mc01; need to change usart receive

  jerrywrx

  committed
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• renamed files and fixed cmakelist

  jerrywrx

  committed
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Commits on Apr 7, 2024

• A1 remote control works

  jerrywrx

  committed
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Commits on Apr 13, 2024

• Arm Translate Init

  rickxu2

  committed
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• real arm translate init

  rickxu2

  committed
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• setting uart back to dma; issue with rx

  jerrywrx

  committed
  98a7f8e

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• soft limit

  rickxu2

  committed
  3cbea8e

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• optimize soft limit

  rickxu2

  committed
  6008a31

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Commits on Apr 14, 2024

• added dbus example

  jerrywrx

  committed
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• PID Tuned

  rickxu2

  committed
  f8a72e4

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Commits on Apr 20, 2024

• Change velocity unit to m/s, new method for smoothing,

  rickxu2

  committed
  bdfc6a4

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Commits on Apr 21, 2024

• add dm mc01 example

  jerrywrx

  committed
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• add type C for BRT encoder

  rickxu2

  committed
  449a077

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• add geometry class and use that to implement engineering chassis

  rickxu2

  committed
  b624232

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• merged main to current branch

  jerrywrx

  committed
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Commits on Apr 23, 2024

• add copyright context to CMakeLists.txt

  rickxu2

  authored
  4da27a5

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Commits on Apr 24, 2024

• update copyright comment, fixed bug

  rickxu2

  committed
  c2ced4f

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• Merge remote-tracking branch 'origin/jerrywrx/dm_mc_01' into MD-20880/Arm_Update

  rickxu2

  committed
  5dcc69a

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• progress save

  rickxu2

  committed
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• Merge remote-tracking branch 'origin/main' into MD-20880/Arm_Update

  rickxu2

  committed
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Commits on Apr 26, 2024

• added gimbal code for Hero2024

  Andd54

  committed
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• A1 stay at same position after powered on

  rickxu2

  committed
  c77a018

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• added gimbal code for Hero2024

  Andd54

  committed
  38da29e

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• added arm example

  jerrywrx

  committed
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Commits on Apr 28, 2024

• multiple threads problem solved

  Andd54

  committed
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• arm zeroing complete, safety if init position is A1 zero

  rickxu2

  committed
  c838d68

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• encoder class invert

  rickxu2

  committed
  f148bf8

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• Combine Arm and Chassis into the same project, separately tested

  rickxu2

  committed
  6e331be

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• changed shooting speed and escalation stability

  Andd54

  committed
  54d9e65

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• added impulse filter

  jerrywrx

  committed
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Commits on Apr 29, 2024

• added average filter; impulse filter not working well due to noisy servo data

  jerrywrx

  committed
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• combing file and out 5v

  rickxu2

  committed
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• first two A1 joint tested,

  rickxu2

  committed
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Commits on May 2, 2024

• added mc01 arm example

  jerrywrx

  committed
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Commits on May 11, 2024

• testing 0510

  rickxu2

  committed
  0cfe233

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• Merge remote-tracking branch 'origin/jerrywrx/arm_4310' into MD-20880/Arm_Update

  rickxu2

  committed
  952b7ec

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• add dm_mc_01

  rickxu2

  committed
  9b5d450

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• change 4310 to dm board and sbus

  rickxu2

  committed
  4f0c5e2

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• testing 4310

  rickxu2

  committed
  4dd8a4a

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• add user key for 4310 example

  rickxu2

  committed
  3e0a2df

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• 4310 worked but not really

  rickxu2

  committed
  ab1e697

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• Merge remote-tracking branch 'origin/jerrywrx/arm_4310' into MD-20880/Arm_Update

  rickxu2

  committed
  475454c

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• 4310 oscillates

  rickxu2

  committed
  af9ec97

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• added pitch servo for gimbal

  Andd54

  committed
  a6e1653

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• arm 6 axis

  rickxu2

  committed
  ab82fd1

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Commits on May 15, 2024

• fixed compile error occured using dbus

  jerrywrx

  committed
  60aeb00

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• pending UI tasks

  Andd54

  committed
  1ede6ac

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• Merge remote-tracking branch 'origin/MD-20880/Arm_Update' into andd54/Hero2024_new

  Andd54

  committed
  9528771

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• temporarily removed engineer

  Andd54

  committed
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• temporarily removed engineer

  Andd54

  committed
  2a43348

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Commits on May 18, 2024

• added barrel rotation

  jerrywrx

  committed
  ac01534

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Commits on Jun 6, 2024

• add 485 dir

  rickxu2

  committed
  d2520ec

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• update generated files

  rickxu2

  committed
  a3e9cfa

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Commits on Jun 12, 2024

• use two ports to see if working

  rickxu2

  committed
  f2ab5fa

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• try to use ZJUI code

  rickxu2

  committed
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Commits on Jun 13, 2024

• A1 able to receive data

  rickxu2

  committed
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Commits on Jun 15, 2024

• Merge branch 'a1_test' into MD-20880/Arm_Update

  rickxu2

  committed
  59dc8c2

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Commits on Jun 16, 2024

• geometry class

  rickxu2

  committed
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• update gimbal code with refereeTask and basic ui tasks

  Andd54

  committed
  ab3d9f0

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• all 6 axis can move

  rickxu2

  committed
  cbb3b94

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• real all 6 axis can move

  rickxu2

  committed
  28c34a1

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Commits on Jun 18, 2024

• disabled error examples due to library updates and controls to gimbal added

  Andd54

  committed
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Commits on Jun 22, 2024

• trapezoid profile

  rickxu2

  committed
  2682f63

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• trapezoid profile pc test

  rickxu2

  committed
  032fa79

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• build error

  rickxu2

  committed
  438964d

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• fixed trapezoid_profile

  rickxu2

  committed
  0e6db73

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• ok to compile

  rickxu2

  committed
  ce5f509

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• Merge branch 'test_branch' into MD-20880/Arm_Update

  rickxu2

  committed
  f4f539b

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• reorganize

  rickxu2

  committed
  3eeda49

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• 4310 init don't jerk; trapezoid profile works

  rickxu2

  committed
  f9fef6b

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• temporarily fix 4310 jerk

  rickxu2

  committed
  0f6b497

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Commits on Jun 23, 2024

• added fundamental support for laser distance sensor SEN0366

  Andd54

  committed
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• update example for SEN0366

  Andd54

  committed
  48a77b0

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Commits on Jun 24, 2024

• inverse kinematics in process

  rickxu2

  committed
  2aa5cf2

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• verified rotaiton3d

  rickxu2

  committed
  490ffc2

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Commits on Jun 25, 2024

• everywhere kill and revive

  rickxu2

  committed
  a9cac8d

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• test inv kinematics

  rickxu2

  committed
  d41057b

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• 3 joint inverse kinematics kinda work

  rickxu2

  committed
  498e764

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Commits on Jun 29, 2024

• updated support for distance sensor, add distance sensor to gimbal task, prototyping motion equation for Hero projectile

  Andd54

  committed
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Commits on Jul 3, 2024

• added new motors and self_check flag for sen_0366

  Andd54

  committed
  356dcec

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• basic UI structure for current pitch and suggested pitch added

  Andd54

  committed
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Commits on Jul 11, 2024

• UI task updated, waiting for test and deploy. Chassis code added, more adjustments required

  Andd54

  committed
  74be895

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• fix minute errors of examples and libraries

  Andd54

  committed
  69b8498

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Commits on Jul 12, 2024

• merged with Arm-Update

  Andd54

  committed
  d9e9088

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• temporarily removed code of TYPE:Engineer

  Andd54

  committed
  fddc8a7

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Commits on Jul 17, 2024

• implement function in vector3d for vector rotate by a 3d rotation, get ready for arm inverse kinematics

  rickxu2

  committed
  d36c5b1

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• [feat] Arm first three joints (A1) inverse kinematics now works, use sbus inputs as field oriented x, y, z velocities. Arm stops when it reaches mechanically impossible position.

  rickxu2

  committed
  4d632f1

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• Extended geometry classes to do more calculations: Mainly the 3d rotation that turns one 3d vector into another and the angle between two 3d rotations. Added inverse kinematics logic for all 6 arms…

  Show description for 7ea03c2
  rickxu2

  committed
  7ea03c2

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Commits on Jul 18, 2024

• referee for gimbal is there now, a functioning UI data pipeline is there, but need to reduce times using uart tx

  Andd54

  committed
  c8c21b4

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• better CROSSHAIR! Hooray\(≧▽≦)/

  Andd54

  committed
  6e656e2

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Commits on Jul 19, 2024

• geometry add axis-angle represnetation && 6 joint inv_kinematics should work

  rickxu2

  committed
  b7231e6

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• starwar

  Andd54

  committed
  bbb951a

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Commits on Jul 20, 2024

• 6 joints inverse kinematics v1; use wfly controller channels to control xyz velocity of the first three joints (a1) and yaw pitch row angles of the last three joints (4310 joints)

  rickxu2

  committed
  d625127

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• delete main.cc which is for testing inverse kinematics only

  rickxu2

  committed
  3c5b5cb

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Commits on Jul 21, 2024

• optimize j4 angle when wrist pointing forward, now don't rotate to 0 when it's pointing forward but keeps the most recent angle

  rickxu2

  committed
  1de7db1

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• wrist orientation relative to field

  rickxu2

  committed
  67038cc

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• fix bug for roll angle, now we can control the field position of the forearm and the field relative angle of the wrist

  rickxu2

  committed
  5bf49fb

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• fix bug (naming of inverse_kinematics() parameter)

  rickxu2

  committed
  83fc5bb

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• fix: change to a legal initial position

  rickxu2

  committed
  5442af1

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Commits on Jul 22, 2024

• 6 joint inverse kinematics generally ok, need to test if there's any bug

  rickxu2

  committed
  7f6455b

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• optimize j4 and j6, now they have 2 rotations of freedom

  rickxu2

  committed
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Commits on Jul 23, 2024

• add movement protection and allow 90 degree offset between exchange ore and get ore

  rickxu2

  committed
  c5e09d0

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• trapezoid velocity profile in xyz position

  rickxu2

  committed
  a2da9de

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• comment clean up and safety bug fix

  rickxu2

  committed
  b63960f

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Commits on Jul 24, 2024

• change end 4310 id

  rickxu2

  committed
  8270c01

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Commits on Jul 25, 2024

• added additional servo example for scope

  Andd54

  committed
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Commits on Jul 26, 2024

• added scope servo

  Andd54

  committed
  e572a9c

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• added few features for shooting speed

  Andd54

  committed
  0fc08a8

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• Revert "added variation for shooting speed"

  Show description for 4d1567c
  Andd54

  committed
  4d1567c

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Commits on Jul 27, 2024

• added sensor example update

  Andd54

  committed
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• added zeroing for gimbal pitch

  Andd54

  committed
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Commits on Jul 28, 2024

• hero chassis can now move but cannot read referee system output

  rickxu2

  committed
  5d26b68

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• Merge branch 'andd54/Hero2024_new' of https://github.com/illini-robomaster/iRM_Embedded_2023 into andd54/Hero2024_new

  rickxu2

  committed
  5b0df3d

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• now able to read referee system power, but not power limit, need to update protocol

  rickxu2

  committed
  564e014

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• update referee system protocol to 1.6.4

  rickxu2

  committed
  d07a487

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• update protocol in fortress and steering, need to update firmware of old vehicle

  rickxu2

  committed
  bded598

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• Merge branch 'rickxu2/referee_protocol_update_1.6.4' into andd54/Hero2024_new

  rickxu2

  committed
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Commits on Jul 29, 2024

• try to control power

  rickxu2

  committed
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• Merge branch 'rickxu2/inv_kinematics_test' into rickxu2/Engineer2024

  rickxu2

  committed
  57ef4f3

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• separate chassis and arm, chassis can now move

  rickxu2

  committed
  3416d2c

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• fix chassis (need test) and add supercap

  rickxu2

  committed
  7125a8a

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• all six angles can move according to small demo arm

  rickxu2

  committed
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Commits on Jul 30, 2024

• add hrb supercap protocol

  rickxu2

  committed
  a86c18e

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• arm translate

  rickxu2

  committed
  71d522b

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• change power limit to adapt to hrb supercap

  rickxu2

  committed
  414dd21

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• try to implement can bridge (need testing)

  rickxu2

  committed
  852bb9a

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• try to use pump

  rickxu2

  committed
  bef242e

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• add power 5v enable to dm board

  rickxu2

  committed
  493c711

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• reconfigure sbus channels

  rickxu2

  committed
  a9f3639

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• modify can bridge

  rickxu2

  committed
  290eb45

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• two board communication on engineer

  rickxu2

  committed
  085db58

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• remove Hero2024 due to possible merge conflict in the future, added referee task and a simplified version of UI

  Andd54

  committed
  d4def33

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• merged with Head, currently with board comms enabled

  Andd54

  committed
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Commits on Jul 31, 2024

• arm entire robot works

  rickxu2

  committed
  b964c25

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• Merge branch 'rickxu2/Engineer2024' of https://github.com/illini-robomaster/iRM_Embedded_2023 into rickxu2/Engineer2024

  rickxu2

  committed
  9743491

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Commits on Aug 2, 2024

• Fix trapezoid_profile/CMakeLists.txt name

  

  Austin Yang

  committed
  8671ba1

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• Change arm send from can1 to can2

  

  Austin Yang

  committed
  2b82d6e

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Commits on Aug 3, 2024

• change arm translate align direction

  rickxu2

  committed
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Commits on Oct 5, 2024

• change driving direction and correct printing float

  rickxu2

  committed
  831e4ab

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Commits on Nov 9, 2024

• can bus connection change, now feedback frequency is 250Hz per motor and all chassis motors are connected to the same bus.

  rickxu2

  committed
  bfaf532

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Commits on Nov 10, 2024

• disable arm_translate (physically unplugged)

  rickxu2

  committed
  e32944d

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