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Odometry (#12)
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Motor odometry
Platforms odometry
Rename platform controller commands
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@szolotykh
szolotykh authored Feb 26, 2024
1 parent 8eb5c0d commit c3bd526
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Showing 19 changed files with 1,056 additions and 160 deletions.
5 changes: 4 additions & 1 deletion .vscode/settings.json
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Expand Up @@ -31,7 +31,10 @@
"hw_encoder.h": "c",
"stdbool.h": "c",
"stdint.h": "c",
"type_traits": "c"
"type_traits": "c",
"math.h": "c",
"odometry_manager.h": "c",
"cmath": "c"
},
"C_Cpp.errorSquiggles": "disabled",
"cmake.sourceDirectory": "D:/Development/kinisi-motor-controller-firmware/.pio/libdeps/native/Unity"
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153 changes: 145 additions & 8 deletions commands.json
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@@ -1,5 +1,5 @@
{
"version": "1.0.3",
"version": "1.0.4",
"commands": [
{
"command": "INITIALIZE_MOTOR",
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},
"category": "Encoder"
},
{
"command": "START_ENCODER_ODOMETRY",
"code": "0x13",
"description": "This command starts the odometry calculation for the specified encoder.",
"properties": [
{
"name": "encoder_index",
"type": "uint8_t",
"range": [
0,
3
],
"description": "The index of the encoder to start the odometry calculation for."
}
],
"category": "Encoder"
},
{
"command": "RESET_ENCODER_ODOMETRY",
"code": "0x14",
"description": "This command resets the odometry calculation for the specified encoder.",
"properties": [
{
"name": "encoder_index",
"type": "uint8_t",
"range": [
0,
3
],
"description": "The index of the encoder to reset the odometry calculation for."
}
],
"category": "Encoder"
},
{
"command": "STOP_ENCODER_ODOMETRY",
"code": "0x15",
"description": "This command stops the odometry calculation for the specified encoder.",
"properties": [
{
"name": "encoder_index",
"type": "uint8_t",
"range": [
0,
3
],
"description": "The index of the encoder to stop the odometry calculation for."
}
],
"category": "Encoder"
},
{
"command": "GET_ENCODER_ODOMETRY",
"code": "0x16",
"description": "This command retrieves the odometry of the specified encoder.",
"properties": [
{
"name": "encoder_index",
"type": "uint8_t",
"range": [
0,
3
],
"description": "The index of the encoder to retrieve the odometry for."
}
],
"response": {
"name": "odometry",
"type": "double",
"description": "The odometry of the encoder in radians."
},
"category": "Encoder"
},
{
"command": "INITIALIZE_GPIO_PIN",
"code": "0x20",
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"type": "double",
"default": 1,
"description": "Diameter of the robot wheels in meters."
},
{
"name": "encoder_resolution",
"type": "double",
"default": 0,
"description": "Encoder resolution in ticks per revolution. The value can not be negative. If platform does not have encoders, the value should be set to zero."
}
],
"category": "Platform"
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"type": "double",
"default": 1,
"description": "Distance berween the center of the robot and the center of the wheels in millimeters."
},
{
"name": "encoder_resolution",
"type": "double",
"default": 0,
"description": "Encoder resolution in ticks per revolution. The value can not be negative. If platform does not have encoders, the value should be set to zero."
}
],
"category": "Platform"
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"category": "Platform"
},
{
"command": "SET_PLATFORM_CONTROLLER",
"command": "START_PLATFORM_CONTROLLER",
"code": "0x41",
"description": "This command sets the controller for the platform.",
"properties": [
Expand All @@ -498,11 +583,6 @@
"type": "double",
"description": "Derivative constant of PID"
},
{
"name": "encoder_resolution",
"type": "double",
"description": "Encoder resolution in ticks per revolution. The value can not be negative or zero."
},
{
"name": "integral_limit",
"type": "double",
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"name": "platform_velocity",
"type": "object",
"description": "The current velocity of the platform in meters per second."
}
},
"category": "Platform"
},
{
"command": "STOP_PLATFORM_CONTROLLER",
"code": "0x44",
"description": "This command stops the controller for the platform.",
"category": "Platform"
},
{
"command": "START_PLATFORM_ODOMETRY",
"code": "0x45",
"description": "This command starts the odometry calculation for the platform.",
"category": "Platform"
},
{
"command": "RESET_PLATFORM_ODOMETRY",
"code": "0x46",
"description": "This command resets the odometry calculation for the platform.",
"category": "Platform"
},
{
"command": "STOP_PLATFORM_ODOMETRY",
"code": "0x47",
"description": "This command stops the odometry calculation for the platform.",
"category": "Platform"
},
{
"command": "GET_PLATFORM_ODOMETRY",
"code": "0x48",
"description": "This command retrieves the odometry of the platform in meters and radians.",
"response":{
"name": "platform_odometry",
"type": "object",
"description": "The odometry of the platform in meters and radians."
},
"category": "Platform"
}
],
"objects": [
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"description": "Theta component of platform velocity in radians per second"
}
]
},
{
"name": "platform_odometry",
"description": "The odometry of the platform in meters and radians.",
"properties": [
{
"name": "x",
"type": "double",
"description": "X component of platform odometry in meters"
},
{
"name": "y",
"type": "double",
"description": "Y component of platform odometry in meters"
},
{
"name": "t",
"type": "double",
"description": "Theta component of platform odometry in radians"
}
]
}
]
}
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