Collection of functions for manipulating a motor. More...

Namespaces
namespace	types
	Types for use in the world interface.

Classes
class	base_motor
	An abstract motor class. More...

class	can_motor

struct	encparams_t

struct	pidcoef_t
	A struct containing a set of PID coefficients. More...

struct	potparams_t
	Represents parameters defining a potentiometer scale. More...

class	sim_motor

Typedefs
using	callbackid_t = unsigned long long

Enumerations
enum class	WorldInterface { real , sim2d , sim3d , noop }
	An enum which defines the possible types of world interfaces. More...

enum class	motorid_t
	The motors on the robot.

Functions
DataPoint< Eigen::Quaterniond >	readIMU ()
	Read the rover orientation from the IMU.

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.

void	setJointPos (types::jointid_t joint, int32_t targetPos)
	Set the position of the specified joint.

types::DataPoint< int32_t >	getJointPos (robot::types::jointid_t joint)

void	setScienceServoPos (uint8_t servoNum, int32_t angle)

DataPoint< double >	readIMUHeading ()
	Read the current heading in the global map frame based on an IMU measurement.

DataPoint< point_t >	readGPS ()
	Get the current position in the global map frame based on a GPS measurement.

std::optional< point_t >	gpsToMeters (const navtypes::gpscoords_t &coord)
	Convert GPS coordinates into a coordinate on the map frame.

bool	gpsHasFix ()
	Check if the GPS sensor has acquired a fix.

const DiffDriveKinematics &	driveKinematics ()

void	world_interface_init (std::optional< std::reference_wrapper< net::websocket::SingleClientWSServer > > wsServer, bool initOnlyMotors=false)
	Initialize the world interface.

std::shared_ptr< robot::base_motor >	getMotor (robot::types::motorid_t motor)
	Get a pointer to the motor object associated with the motor id.

void	emergencyStop ()
	Emergency stop all motors.

bool	isEmergencyStopped ()
	Check if the robot has been emergency stopped.

landmarks_t	readLandmarks ()
	Read measurement from the CV system.

DataPoint< pose_t >	getTruePose ()
	Get the ground truth pose, if available.

void	setMotorPower (robot::types::motorid_t motor, double power)
	Set the PWM command of the given motor.

void	setMotorPos (robot::types::motorid_t motor, int32_t targetPos)
	Set the target position of the motor.

types::DataPoint< int32_t >	getMotorPos (robot::types::motorid_t motor)
	Get the last reported position of the specified motor.

void	setMotorVel (robot::types::motorid_t motor, int32_t targetVel)
	Sets the velocity of the given motor.

void	setIndicator (types::indication_t signal)
	Set the robot indicator to indicate the given signal.

callbackid_t	addLimitSwitchCallback (robot::types::motorid_t motor, const std::function< void(robot::types::motorid_t motor, robot::types::DataPoint< LimitSwitchData > limitSwitchData)> &callback)

void	removeLimitSwitchCallback (callbackid_t id)

constexpr std::chrono::milliseconds	TELEM_PERIOD (50)
	The default telemetry period for motors.

std::shared_ptr< types::CameraHandle >	openCamera (types::CameraID camID)
	Opens Camera with id camID.

std::unordered_set< CameraID >	getCameras ()
	Get the IDs of the currently supported cameras.

bool	hasNewCameraFrame (types::CameraID camera, uint32_t oldFrameNum)
	Check if a new camera frame from the specified camera is available.

DataPoint< CameraFrame >	readCamera (types::CameraID camera)
	Read the latest frame from the given camera.

std::optional< cam::CameraParams >	getCameraIntrinsicParams (types::CameraID camera)
	Get the intrinsic params of the specified camera, if it exists.

std::optional< cv::Mat >	getCameraExtrinsicParams (types::CameraID camera)
	Get the extrinsic params of the specified camera, if it exists.

template<typename T>
int	getIndex (const std::vector< T > &vec, const T &val)

void	setServoPos (robot::types::servoid_t servo, int32_t position)

void	setRequestedStepperTurnAngle (robot::types::stepperid_t stepper, int16_t angle)

void	setActuator (uint8_t value)

callbackid_t	addLimitSwitchCallback (robot::types::motorid_t motor, const std::function< void(robot::types::motorid_t motor, robot::types::DataPoint< robot::types::LimitSwitchData > limitSwitchData)> &callback)

template<unsigned long int N>
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.

Variables
const WorldInterface	WORLD_INTERFACE = WorldInterface::noop
	The current world interface being used.

constexpr auto	encMotors

constexpr double	FOURBAR_GEAR_RATIO = 71.71875

constexpr auto	potMotors

constexpr auto	motorSerialIDMap
	A mapping of motorids to their corresponding serial number.

constexpr auto	motorGroupMap

constexpr auto	motorPIDMap
	A mapping of PID controlled motors to their pid coefficients.

constexpr auto	positive_pwm_scales
	A mapping of motorids to power scale factors when commanded with positive power.

constexpr auto	negative_pwm_scales
	A mapping of motorids to power scale factors when commanded with negative power.

std::unordered_map< robot::types::motorid_t, std::shared_ptr< robot::base_motor > >	motor_ptrs

constexpr double	WHEEL_BASE = 0.66

constexpr double	EFF_WHEEL_BASE = 1.40

constexpr double	WHEEL_RADIUS = 0.15

constexpr double	PWM_FOR_1RAD_PER_SEC = 5000

constexpr double	MAX_PWM = 20000

Detailed Description

Collection of functions for manipulating a motor.

Collection of functions that allows interfacing with the hardware and the world.

Enumeration Type Documentation

◆ WorldInterface

enum class robot::WorldInterface

strong

An enum which defines the possible types of world interfaces.

See also: WORLD_INTERFACE

Function Documentation

◆ emergencyStop()

void robot::emergencyStop ( )

Emergency stop all motors.

After emergency stopping, all motors must be reinitialized.

◆ getCameraExtrinsicParams()

std::optional< cv::Mat > robot::getCameraExtrinsicParams ( types::CameraID camera )

Get the extrinsic params of the specified camera, if it exists.

Parameters

camera The ID of the camera for which to get the extrinsic params.

Returns: The extrinsic params if it exists, else an empty optional object.

◆ getCameraIntrinsicParams()

std::optional< cam::CameraParams > robot::getCameraIntrinsicParams ( types::CameraID camera )

Get the intrinsic params of the specified camera, if it exists.

Parameters

camera The ID of the camera for which to get the intrinsic params.

Returns: The intrinsic params if it exists, else an empty optional object.

◆ getCameras()

std::unordered_set< types::CameraID > robot::getCameras ( )

Get the IDs of the currently supported cameras.

Returns: The IDs of all cameras currently supported by the world interface, as a std::unordered_set.

◆ getJointPos()

types::DataPoint< int32_t > robot::getJointPos ( types::jointid_t joint )

Parameters

joint the jointid_t of the joint to get the position of.

Returns: the position of the joint specified by the jointid_t argument joint, in millidegrees.

◆ getMotor()

std::shared_ptr< robot::base_motor > robot::getMotor ( robot::types::motorid_t motor )

Get a pointer to the motor object associated with the motor id.

Parameters

motor The motor id to manipulate.

Returns: A shared pointer to the motor object

◆ getMotorPos()

types::DataPoint< int32_t > robot::getMotorPos ( robot::types::motorid_t motor )

Get the last reported position of the specified motor.

Parameters

motor The motor to get the position from.

Returns: types::DataPoint<int32_t> The last reported position of the motor in millidegrees, if it exists. If the motor has not reported a position (because it hasn't been received yet or if it doesn't have an encoder) then an empty data point is returned.

◆ getMotorPositionsRad()

template<unsigned long int N>

types::DataPoint< navtypes::Vectord< N > > robot::getMotorPositionsRad ( const std::array< types::motorid_t, N > & motors )

Get the positions in radians of multiple motors at the same time.

This is useful for kinematics classes which expect motor positions as a vector.

Template Parameters

N	Number of motors.

Parameters

motors The motors to get the positions of.

Returns: types::DataPoint<navtypes::Vectord<N>> The joint positions. This will be an empty data point if any of the requested motors do not have any associated data. The timestamp of this data point is the oldest timestamp of the requested motors.

◆ getTruePose()

types::DataPoint< navtypes::pose_t > robot::getTruePose ( )

Get the ground truth pose, if available.

This is only available in simulation.

Returns: DataPoint<pose_t> The ground truth pose, or an empty datapoint if unavailable.

◆ gpsHasFix()

bool robot::gpsHasFix ( )

Check if the GPS sensor has acquired a fix.

Returns: true iff the GPS has a fix

◆ gpsToMeters()

std::optional< navtypes::point_t > robot::gpsToMeters ( const navtypes::gpscoords_t & coord )

Convert GPS coordinates into a coordinate on the map frame.

Parameters

coord The coord to transform into map space.

Returns: std::optional<point_t> The transformed point, or an empty datapoint if the GPS does not have a fix.

◆ hasNewCameraFrame()

bool robot::hasNewCameraFrame	(	types::CameraID	camera,
		uint32_t	oldFrameNum )

Check if a new camera frame from the specified camera is available.

Parameters

camera	The ID of the camera to check
oldFrameNum	The frame number of the old frame. A camera frame is "new" if its id is different than this.

Returns: true iff a new camera frame is available.

◆ isEmergencyStopped()

bool robot::isEmergencyStopped ( )

Check if the robot has been emergency stopped.

Returns: If emergencyStop() has been called previously.

◆ openCamera()

std::shared_ptr< types::CameraHandle > robot::openCamera ( types::CameraID camID )

Opens Camera with id camID.

Parameters

camID The camera id to open.

Returns: A shared pointer to the camera object

◆ readCamera()

types::DataPoint< types::CameraFrame > robot::readCamera ( types::CameraID camera )

Read the latest frame from the given camera.

This is not guaranteed to change between calls, so use hasNewCameraFrame() to check if a new frame is available.

Parameters

camera The ID of the camera to read from.

Returns: DataPoint<CameraFrame> A datapoint containing the latest frame. If an error occurs or the ID is invalid, returns an invalid datapoint.

◆ readGPS()

types::DataPoint< navtypes::point_t > robot::readGPS ( )

Get the current position in the global map frame based on a GPS measurement.

Note that these values are NOT lat/long. Note that for the map frame, +x=+lat,+y=-lon.

Returns: DataPoint<point_t> The last GPS reading, in the map space.

◆ readIMU()

types::DataPoint< Eigen::Quaterniond > robot::readIMU ( )

Read the rover orientation from the IMU.

Returns: types::DataPoint<Eigen::Quaterniond>

◆ readIMUHeading()

types::DataPoint< double > robot::readIMUHeading ( )

Read the current heading in the global map frame based on an IMU measurement.

Note that the heading is in radians, CCW, and 0=North.

Returns: DataPoint<double> The last heading reading, or none if measurement not available.

◆ readLandmarks()

types::landmarks_t robot::readLandmarks ( )

Read measurement from the CV system.

As of now, returns a vector of fixed length, one for each post in the competition.

Returns: DataPoint<points_t> A vector of fixed lengths. Non-visible markers are denoted with {0,0,0}, while all nonzero points are visible marker. The index of a landmark in this vector is its id.

◆ setCmdVel()

double robot::setCmdVel	(	double	dtheta,
		double	dx )

Request the robot to drive at the given velocities.

Parameters

dtheta	The heading velocity.
dx	The forward 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.

◆ setIndicator()

void robot::setIndicator ( types::indication_t signal )

Set the robot indicator to indicate the given signal.

Parameters

signal The signal to display on the indicator.

◆ setJointPos()

void robot::setJointPos	(	types::jointid_t	joint,
		int32_t	targetPos )

Set the position of the specified joint.

Parameters

joint	the jointid_t of the joint to set the position of.
targetPos	the position to set the joint to, in millidegrees.

◆ setJointPower()

void robot::setJointPower	(	types::jointid_t	joint,
		double	power )

Set the power of the specified joint.

Parameters

joint	The joint to set the power of.
power	The power value to set, in the range [-1,1].

◆ setMotorPos()

void robot::setMotorPos	(	robot::types::motorid_t	motor,
		int32_t	targetPos )

Set the target position of the motor.

This will have no effect if the motor does not support PID.

Parameters

motor	The motor to set the target position of.
targetPos	The target position, in millidegrees. Refer to the specific motor for more information.

◆ setMotorPower()

void robot::setMotorPower	(	robot::types::motorid_t	motor,
		double	power )

Set the PWM command of the given motor.

Parameters

motor	The motor to set the PWM of.
power	The power command, in the range [-1, 1]

◆ setMotorVel()

void robot::setMotorVel	(	robot::types::motorid_t	motor,
		int32_t	targetVel )

Sets the velocity of the given motor.

Parameters

motor	The motor to set the target position of.
targetVel	The target velocity, in millidegrees per second.

◆ setTankCmdVel()

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

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

Parameters

left	The left velocity.
right	The 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.

◆ world_interface_init()

void robot::world_interface_init	(	std::optional< std::reference_wrapper< net::websocket::SingleClientWSServer > >	wsServer,
		bool	initOnlyMotors = false )

Initialize the world interface.

This method should only be called once, and must be called before any other world interface methods.

Parameters

wsServer	A reference to the websocket server to use for communication. If empty, components that require it will not be initialized.
initOnlyMotors	If true, only initialize the motors and not the rest of the world interface.

Variable Documentation

◆ encMotors

auto robot::encMotors

constexpr

Initial value:

= frozen::make_unordered_map<motorid_t, encparams_t>({
    {motorid_t::shoulder,
        {.isInverted = true,
        .ppjr = 4590 * 1024 * 4,
        .limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).first,
        .limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).second,
        .zeroCalibrationPower = 0.4}},
})

◆ motorGroupMap

auto robot::motorGroupMap

constexpr

Initial value:

= frozen::make_unordered_map<motorid_t, can::devicegroup_t>(
    {{motorid_t::leftTread, can::devicegroup_t::motor},
     {motorid_t::rightTread, can::devicegroup_t::motor},
     {motorid_t::armBase, can::devicegroup_t::motor},
     {motorid_t::shoulder, can::devicegroup_t::motor},
     {motorid_t::elbow, can::devicegroup_t::motor},
     {motorid_t::forearm, can::devicegroup_t::motor},
     {motorid_t::wristDiffLeft, can::devicegroup_t::motor},
     {motorid_t::wristDiffRight, can::devicegroup_t::motor},
     {motorid_t::hand, can::devicegroup_t::motor},
     {motorid_t::drillActuator, can::devicegroup_t::science},
     {motorid_t::drillMotor, can::devicegroup_t::science},
     {motorid_t::fourbar1, can::devicegroup_t::science},
     {motorid_t::fourbar2, can::devicegroup_t::science},
   {motorid_t::scienceServoBoard, can::devicegroup_t::science},
   {motorid_t::scienceStepperBoard, can::devicegroup_t::science}})

◆ motorPIDMap

auto robot::motorPIDMap

constexpr

Initial value:

=

frozen::make_unordered_map<motorid_t, pidcoef_t>({{motorid_t::shoulder, {70, 0, 0}}})

A mapping of PID controlled motors to their pid coefficients.

◆ motorSerialIDMap

auto robot::motorSerialIDMap

constexpr

Initial value:

= frozen::make_unordered_map<motorid_t, can::deviceserial_t>(
    {{motorid_t::leftTread, DEVICE_SERIAL_TREAD_LEFT},
     {motorid_t::rightTread, DEVICE_SERIAL_TREAD_RIGHT},
     {motorid_t::armBase, DEVICE_SERIAL_MOTOR_BASE},
     {motorid_t::shoulder, DEVICE_SERIAL_MOTOR_SHOULDER},
     {motorid_t::elbow, DEVICE_SERIAL_MOTOR_ELBOW},
     {motorid_t::forearm, DEVICE_SERIAL_MOTOR_FOREARM},
     {motorid_t::wristDiffLeft, DEVICE_SERIAL_MOTOR_WRIST_DIFF_LEFT},
     {motorid_t::wristDiffRight, DEVICE_SERIAL_MOTOR_WRIST_DIFF_RIGHT},
     {motorid_t::hand, DEVICE_SERIAL_MOTOR_HAND},
     {motorid_t::drillActuator, DEVICE_SERIAL_DRILL_ACTUATOR},
     {motorid_t::drillMotor, DEVICE_SERIAL_DRILL_MOTOR},
     {motorid_t::fourbar1, DEVICE_SERIAL_FOUR_BAR_LINKAGE_1},
     {motorid_t::fourbar2, DEVICE_SERIAL_FOUR_BAR_LINKAGE_2},
   {motorid_t::scienceServoBoard, DEVICE_SERIAL_SCIENCE_SERVO},
   {motorid_t::scienceStepperBoard, DEVICE_SERIAL_SCIENCE_STEPPER}})

A mapping of motorids to their corresponding serial number.

◆ negative_pwm_scales

auto robot::negative_pwm_scales

constexpr

Initial value:

=
    frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
                                                   {motorid_t::shoulder, -1},
                                                   {motorid_t::elbow, -1},
                                                   {motorid_t::forearm, -0.2},
                                                   {motorid_t::wristDiffLeft, -0.1},
                                                   {motorid_t::wristDiffRight, 0.1},
                                                   {motorid_t::leftTread, 0.7},
                                                   {motorid_t::rightTread, -0.7},
                                                   {motorid_t::hand, -0.75},
                                                   {motorid_t::drillActuator, -0.5},
                                                   {motorid_t::drillMotor, -1.0},
                                                   {motorid_t::fourbar1, 0.15},
                                                   {motorid_t::fourbar2, 0.15},
                           {motorid_t::scienceServoBoard, 0},
                           {motorid_t::scienceStepperBoard, 0}})

A mapping of motorids to power scale factors when commanded with negative power.

Negative values mean that the motor is inverted.

◆ positive_pwm_scales

auto robot::positive_pwm_scales

constexpr

Initial value:

=
    frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
                                                   {motorid_t::shoulder, -1},
                                                   {motorid_t::elbow, -1},
                                                   {motorid_t::forearm, -0.2},
                                                   {motorid_t::wristDiffLeft, -0.1},
                                                   {motorid_t::wristDiffRight, 0.1},
                                                   {motorid_t::leftTread, 0.7},
                                                   {motorid_t::rightTread, -0.7},
                                                   {motorid_t::hand, -0.75},
                                                   {motorid_t::drillActuator, -0.5},
                                                   {motorid_t::drillMotor, -1.0},
                                                   {motorid_t::fourbar1, 0.3},
                                                   {motorid_t::fourbar2, 0.3},
                           {motorid_t::scienceServoBoard, 0},
                           {motorid_t::scienceStepperBoard, 0}})

A mapping of motorids to power scale factors when commanded with positive power.

Negative values mean that the motor is inverted.

◆ potMotors

auto robot::potMotors

constexpr

Initial value:

= frozen::make_unordered_map<motorid_t, potparams_t>({
    {motorid_t::forearm,
     {.adc_lo = 1208, .mdeg_lo = -180 * 1000, .adc_hi = 841, .mdeg_hi = 180 * 1000}},
    {motorid_t::wristDiffLeft,
     {.adc_lo = 0, .mdeg_lo = -100 * 0, .adc_hi = 0, .mdeg_hi = 100 * 0}},
    {motorid_t::wristDiffRight,
     {.adc_lo = 0, .mdeg_lo = -100 * 0, .adc_hi = 0, .mdeg_hi = 100 * 0}},
    {motorid_t::fourbar1, {.adc_lo = 8, .mdeg_lo = 75200, .adc_hi = 8, .mdeg_hi = 267500}},
})

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ WorldInterface

Function Documentation

◆ emergencyStop()

◆ getCameraExtrinsicParams()

◆ getCameraIntrinsicParams()

◆ getCameras()

◆ getJointPos()

◆ getMotor()

◆ getMotorPos()

◆ getMotorPositionsRad()

◆ getTruePose()

◆ gpsHasFix()

◆ gpsToMeters()

◆ hasNewCameraFrame()

◆ isEmergencyStopped()

◆ openCamera()

◆ readCamera()

◆ readGPS()

◆ readIMU()

◆ readIMUHeading()

◆ readLandmarks()

◆ setCmdVel()

◆ setIndicator()

◆ setJointPos()

◆ setJointPower()

◆ setMotorPos()

◆ setMotorPower()

◆ setMotorVel()

◆ setTankCmdVel()

◆ world_interface_init()

Variable Documentation

◆ encMotors

◆ motorGroupMap

◆ motorPIDMap

◆ motorSerialIDMap

◆ negative_pwm_scales

◆ positive_pwm_scales

◆ potMotors