Resurgence (PY2022)
Codebase for the Husky Robotics 2021-2022 rover Resurgence
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Globals.h
1#pragma once
2
3#include "control/PlanarArmController.h"
4#include "kinematics/ArmKinematics.h"
5#include "kinematics/DiffWristKinematics.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 const kinematics::DiffWristKinematics wristKinematics;
33extern std::atomic<bool> armIKEnabled;
34} // namespace Globals
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:77