From 8dc950bb7279a5fbd0d6984b00a088a64b0ccf25 Mon Sep 17 00:00:00 2001 From: THERocky <101498190+Rocky14683@users.noreply.github.com> Date: Fri, 5 Apr 2024 09:28:30 -0400 Subject: [PATCH] Clean code (#91) * include new template zip file * Clean code for beta release, cus we forgor * update template --- VOSS@0.1.0.zip | Bin 4565329 -> 4540934 bytes .../VOSS/controller/BoomerangController.hpp | 12 ------- .../controller/BoomerangControllerBuilder.hpp | 5 +-- include/VOSS/controller/PIDController.hpp | 5 --- .../VOSS/controller/PIDControllerBuilder.hpp | 1 - include/VOSS/controller/SwingController.hpp | 2 -- src/VOSS/controller/BoomerangController.cpp | 33 ------------------ .../controller/BoomerangControllerBuilder.cpp | 19 +--------- src/VOSS/controller/PIDController.cpp | 9 ----- src/VOSS/controller/PIDControllerBuilder.cpp | 4 --- src/main.cpp | 5 +-- 11 files changed, 3 insertions(+), 92 deletions(-) diff --git a/VOSS@0.1.0.zip b/VOSS@0.1.0.zip index 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z{+3S->#QDX=dH%>sm5e^t5_el@v43~-Uzk#6DveTWP2+X^+igd!=!E{M^*Jzwl`R>(9L70VKlrYQ^!#{QOpT&m!fKFF%AnVm$g1QMGD1U6|c+s`Kw9&7o&f0!8o(@w|r{( zLgscC?W-Hu;I@6aXT=+**X?&;?hQ*uX&yHDscEcJZS_?ST7WxPc=Dd+!(qnd)}1Bj zQLj3g?#yPE*r)*`?jJZvZQGn1shYO-R@6Dx zvB5__h86O9BlV$AU2WkF(S?qDcK;8}v4e1lyQO}6=E|lF%0_l}yR#XHco*u;Srlc3 osnkp~m$x;V>-}eK6-aAIu0ovyx-gkD^3kr&ec0|(_m2><{9 diff --git a/include/VOSS/controller/BoomerangController.hpp b/include/VOSS/controller/BoomerangController.hpp index 2697002e..72990f48 100644 --- a/include/VOSS/controller/BoomerangController.hpp +++ b/include/VOSS/controller/BoomerangController.hpp @@ -17,17 +17,9 @@ class BoomerangController : public AbstractController { Pose carrotPoint; utils::PID linear_pid, angular_pid; - double vel; - double exit_error; - double angular_exit_error; double min_error; bool can_reverse; - double settle_time; - double close; - double close_2; - int counter; - double prev_angle; double min_vel; public: @@ -47,12 +39,8 @@ class BoomerangController : public AbstractController { modify_linear_constants(double kP, double kI, double kD); std::shared_ptr modify_angular_constants(double kP, double kI, double kD); - std::shared_ptr modify_exit_error(double error); - std::shared_ptr - modify_angular_exit_error(double error); std::shared_ptr modify_min_error(double error); std::shared_ptr modify_lead_pct(double lead_pct); - std::shared_ptr modify_settle_time(double time); friend class BoomerangControllerBuilder; }; diff --git a/include/VOSS/controller/BoomerangControllerBuilder.hpp b/include/VOSS/controller/BoomerangControllerBuilder.hpp index 31441333..0a3f7134 100644 --- a/include/VOSS/controller/BoomerangControllerBuilder.hpp +++ b/include/VOSS/controller/BoomerangControllerBuilder.hpp @@ -20,11 +20,8 @@ class BoomerangControllerBuilder { double kD); BoomerangControllerBuilder& with_angular_constants(double kP, double kI, double kD); - BoomerangControllerBuilder& with_exit_error(double error); - BoomerangControllerBuilder& with_angular_exit_error(double error); - BoomerangControllerBuilder& with_min_error(double error); BoomerangControllerBuilder& with_lead_pct(double lead_pct); - BoomerangControllerBuilder& with_settle_time(double time); + BoomerangControllerBuilder& with_min_error(double error); BoomerangControllerBuilder& with_min_vel_for_thru(double min_vel); std::shared_ptr build(); diff --git a/include/VOSS/controller/PIDController.hpp b/include/VOSS/controller/PIDController.hpp index 085ac578..c0c90a6f 100644 --- a/include/VOSS/controller/PIDController.hpp +++ b/include/VOSS/controller/PIDController.hpp @@ -11,7 +11,6 @@ class PIDController : public AbstractController { std::shared_ptr p; utils::PID linear_pid, angular_pid; - double tracking_kP; double min_error; bool can_reverse; @@ -35,11 +34,7 @@ class PIDController : public AbstractController { double kD); std::shared_ptr modify_angular_constants(double kP, double kI, double kD); - std::shared_ptr modify_tracking_kp(double kP); - std::shared_ptr modify_exit_error(double exit_error); - std::shared_ptr modify_angular_exit_error(double exit_error); std::shared_ptr modify_min_error(double min_error); - std::shared_ptr modify_settle_time(double settle_time); friend class PIDControllerBuilder; friend class BoomerangControllerBuilder; diff --git a/include/VOSS/controller/PIDControllerBuilder.hpp b/include/VOSS/controller/PIDControllerBuilder.hpp index 8bc6d7c3..9fdaa473 100644 --- a/include/VOSS/controller/PIDControllerBuilder.hpp +++ b/include/VOSS/controller/PIDControllerBuilder.hpp @@ -20,7 +20,6 @@ class PIDControllerBuilder { double kD); PIDControllerBuilder& with_angular_constants(double kP, double kI, double kD); - PIDControllerBuilder& with_tracking_kp(double kP); PIDControllerBuilder& with_min_error(double error); PIDControllerBuilder& with_min_vel_for_thru(double min_vel); diff --git a/include/VOSS/controller/SwingController.hpp b/include/VOSS/controller/SwingController.hpp index 86688a3f..9effe54c 100644 --- a/include/VOSS/controller/SwingController.hpp +++ b/include/VOSS/controller/SwingController.hpp @@ -30,8 +30,6 @@ class SwingController : public AbstractController { std::shared_ptr modify_angular_constants(double kP, double kI, double kD); - std::shared_ptr modify_angular_exit_error(double error); - std::shared_ptr modify_settle_time(double time); friend class SwingControllerBuilder; }; diff --git a/src/VOSS/controller/BoomerangController.cpp b/src/VOSS/controller/BoomerangController.cpp index 5fce9642..852ecc72 100644 --- a/src/VOSS/controller/BoomerangController.cpp +++ b/src/VOSS/controller/BoomerangController.cpp @@ -104,7 +104,6 @@ void BoomerangController::reset() { this->linear_pid.reset(); this->angular_pid.reset(); this->can_reverse = false; - this->counter = 0; } std::shared_ptr @@ -129,27 +128,6 @@ BoomerangController::modify_angular_constants(double kP, double kI, double kD) { return this->p; } -std::shared_ptr -BoomerangController::modify_exit_error(double exit_error) { - auto pid_mod = BoomerangControllerBuilder::from(*this) - .with_exit_error(exit_error) - .build(); - - this->p = pid_mod; - - return this->p; -} - -std::shared_ptr -BoomerangController::modify_angular_exit_error(double exit_error) { - auto pid_mod = BoomerangControllerBuilder::from(*this) - .with_angular_exit_error(exit_error) - .build(); - - this->p = pid_mod; - - return this->p; -} std::shared_ptr BoomerangController::modify_min_error(double min_error) { @@ -172,15 +150,4 @@ BoomerangController::modify_lead_pct(double lead_pct) { return this->p; } -std::shared_ptr -BoomerangController::modify_settle_time(double settle_time) { - auto pid_mod = BoomerangControllerBuilder::from(*this) - .with_settle_time(settle_time) - .build(); - - this->p = pid_mod; - - return this->p; -} - } // namespace voss::controller \ No newline at end of file diff --git a/src/VOSS/controller/BoomerangControllerBuilder.cpp b/src/VOSS/controller/BoomerangControllerBuilder.cpp index 4bcc9dc4..b7c54e66 100644 --- a/src/VOSS/controller/BoomerangControllerBuilder.cpp +++ b/src/VOSS/controller/BoomerangControllerBuilder.cpp @@ -40,36 +40,19 @@ BoomerangControllerBuilder::with_angular_constants(double kP, double kI, return *this; } -BoomerangControllerBuilder& -BoomerangControllerBuilder::with_exit_error(double error) { - this->ctrl.exit_error = error; - return *this; -} - -BoomerangControllerBuilder& -BoomerangControllerBuilder::with_angular_exit_error(double error) { - this->ctrl.angular_exit_error = voss::to_radians(error); - return *this; -} - BoomerangControllerBuilder& BoomerangControllerBuilder::with_min_error(double error) { this->ctrl.min_error = error; return *this; } + BoomerangControllerBuilder& BoomerangControllerBuilder::with_lead_pct(double lead_pct) { this->ctrl.lead_pct = lead_pct; return *this; } -BoomerangControllerBuilder& -BoomerangControllerBuilder::with_settle_time(double time) { - this->ctrl.settle_time = (time > 0) ? time : 250; - return *this; -} - BoomerangControllerBuilder& BoomerangControllerBuilder::with_min_vel_for_thru(double min_vel) { this->ctrl.min_vel = min_vel; diff --git a/src/VOSS/controller/PIDController.cpp b/src/VOSS/controller/PIDController.cpp index 2de02c08..7ef008d6 100644 --- a/src/VOSS/controller/PIDController.cpp +++ b/src/VOSS/controller/PIDController.cpp @@ -171,15 +171,6 @@ PIDController::modify_angular_constants(double kP, double kI, double kD) { return this->p; } -std::shared_ptr PIDController::modify_tracking_kp(double kP) { - auto pid_mod = - PIDControllerBuilder::from(*this).with_tracking_kp(kP).build(); - - this->p = pid_mod; - - return this->p; -} - std::shared_ptr PIDController::modify_min_error(double min_error) { auto pid_mod = diff --git a/src/VOSS/controller/PIDControllerBuilder.cpp b/src/VOSS/controller/PIDControllerBuilder.cpp index ba0e3b80..d264ceb3 100644 --- a/src/VOSS/controller/PIDControllerBuilder.cpp +++ b/src/VOSS/controller/PIDControllerBuilder.cpp @@ -38,10 +38,6 @@ PIDControllerBuilder::with_angular_constants(double kP, double kI, double kD) { return *this; } -PIDControllerBuilder& PIDControllerBuilder::with_tracking_kp(double kP) { - this->ctrl.tracking_kP = kP; - return *this; -} PIDControllerBuilder& PIDControllerBuilder::with_min_error(double error) { this->ctrl.min_error = error; diff --git a/src/main.cpp b/src/main.cpp index 9345ce25..eb97a14b 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -29,12 +29,9 @@ auto pid = voss::controller::PIDControllerBuilder::new_builder(odom) auto boomerang = voss::controller::BoomerangControllerBuilder::new_builder(odom) .with_linear_constants(20, 0.02, 169) .with_angular_constants(250, 0.05, 2435) - .with_exit_error(1.0) .with_lead_pct(0.5) - .with_angular_exit_error(1.0) - .with_min_error(5) .with_min_vel_for_thru(70) - .with_settle_time(200) + .with_min_error(5) .build(); auto swing = voss::controller::SwingControllerBuilder::new_builder(odom)