chassisControllerBuilder.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/chassis/controller/chassisControllerIntegrated.hpp"
#include "okapi/api/chassis/controller/chassisControllerPid.hpp"
#include "okapi/api/chassis/controller/defaultOdomChassisController.hpp"
#include "okapi/api/chassis/model/hDriveModel.hpp"
#include "okapi/api/chassis/model/skidSteerModel.hpp"
#include "okapi/api/chassis/model/xDriveModel.hpp"
#include "okapi/api/util/logging.hpp"
#include "okapi/api/util/mathUtil.hpp"
#include "okapi/impl/device/motor/motor.hpp"
#include "okapi/impl/device/motor/motorGroup.hpp"
#include "okapi/impl/device/rotarysensor/adiEncoder.hpp"
#include "okapi/impl/device/rotarysensor/integratedEncoder.hpp"
#include "okapi/impl/device/rotarysensor/rotationSensor.hpp"
#include "okapi/impl/util/timeUtilFactory.hpp"
 
namespace okapi {
class ChassisControllerBuilder {
  public:
  explicit ChassisControllerBuilder(
    const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
 
  ChassisControllerBuilder &withMotors(const Motor &ileft, const Motor &iright);
 
  ChassisControllerBuilder &withMotors(const MotorGroup &ileft, const MotorGroup &iright);
 
  ChassisControllerBuilder &withMotors(const std::shared_ptr<AbstractMotor> &ileft,
                                       const std::shared_ptr<AbstractMotor> &iright);
 
  ChassisControllerBuilder &withMotors(const Motor &itopLeft,
                                       const Motor &itopRight,
                                       const Motor &ibottomRight,
                                       const Motor &ibottomLeft);
 
  ChassisControllerBuilder &withMotors(const MotorGroup &itopLeft,
                                       const MotorGroup &itopRight,
                                       const MotorGroup &ibottomRight,
                                       const MotorGroup &ibottomLeft);
 
  ChassisControllerBuilder &withMotors(const std::shared_ptr<AbstractMotor> &itopLeft,
                                       const std::shared_ptr<AbstractMotor> &itopRight,
                                       const std::shared_ptr<AbstractMotor> &ibottomRight,
                                       const std::shared_ptr<AbstractMotor> &ibottomLeft);
 
  ChassisControllerBuilder &
  withMotors(const Motor &ileft, const Motor &iright, const Motor &imiddle);
 
  ChassisControllerBuilder &
  withMotors(const MotorGroup &ileft, const MotorGroup &iright, const MotorGroup &imiddle);
 
  ChassisControllerBuilder &
  withMotors(const MotorGroup &ileft, const MotorGroup &iright, const Motor &imiddle);
 
  ChassisControllerBuilder &withMotors(const std::shared_ptr<AbstractMotor> &ileft,
                                       const std::shared_ptr<AbstractMotor> &iright,
                                       const std::shared_ptr<AbstractMotor> &imiddle);
 
  ChassisControllerBuilder &withSensors(const ADIEncoder &ileft, const ADIEncoder &iright);
 
  ChassisControllerBuilder &
  withSensors(const ADIEncoder &ileft, const ADIEncoder &iright, const ADIEncoder &imiddle);
 
  ChassisControllerBuilder &withSensors(const RotationSensor &ileft, const RotationSensor &iright);
 
  ChassisControllerBuilder &withSensors(const RotationSensor &ileft,
                                        const RotationSensor &iright,
                                        const RotationSensor &imiddle);
 
  ChassisControllerBuilder &withSensors(const IntegratedEncoder &ileft,
                                        const IntegratedEncoder &iright);
 
  ChassisControllerBuilder &withSensors(const IntegratedEncoder &ileft,
                                        const IntegratedEncoder &iright,
                                        const ADIEncoder &imiddle);
 
  ChassisControllerBuilder &withSensors(const std::shared_ptr<ContinuousRotarySensor> &ileft,
                                        const std::shared_ptr<ContinuousRotarySensor> &iright);
 
  ChassisControllerBuilder &withSensors(const std::shared_ptr<ContinuousRotarySensor> &ileft,
                                        const std::shared_ptr<ContinuousRotarySensor> &iright,
                                        const std::shared_ptr<ContinuousRotarySensor> &imiddle);
 
  ChassisControllerBuilder &withGains(const IterativePosPIDController::Gains &idistanceGains,
                                      const IterativePosPIDController::Gains &iturnGains);
 
  ChassisControllerBuilder &withGains(const IterativePosPIDController::Gains &idistanceGains,
                                      const IterativePosPIDController::Gains &iturnGains,
                                      const IterativePosPIDController::Gains &iangleGains);
 
  ChassisControllerBuilder &withOdometry(const StateMode &imode = StateMode::FRAME_TRANSFORMATION,
                                         const QLength &imoveThreshold = 0_mm,
                                         const QAngle &iturnThreshold = 0_deg);
 
  ChassisControllerBuilder &withOdometry(const ChassisScales &iodomScales,
                                         const StateMode &imode = StateMode::FRAME_TRANSFORMATION,
                                         const QLength &imoveThreshold = 0_mm,
                                         const QAngle &iturnThreshold = 0_deg);
 
  ChassisControllerBuilder &withOdometry(std::shared_ptr<Odometry> iodometry,
                                         const StateMode &imode = StateMode::FRAME_TRANSFORMATION,
                                         const QLength &imoveThreshold = 0_mm,
                                         const QAngle &iturnThreshold = 0_deg);
 
  ChassisControllerBuilder &withDerivativeFilters(
    std::unique_ptr<Filter> idistanceFilter,
    std::unique_ptr<Filter> iturnFilter = std::make_unique<PassthroughFilter>(),
    std::unique_ptr<Filter> iangleFilter = std::make_unique<PassthroughFilter>());
 
  ChassisControllerBuilder &withDimensions(const AbstractMotor::GearsetRatioPair &igearset,
                                           const ChassisScales &iscales);
 
  ChassisControllerBuilder &withMaxVelocity(double imaxVelocity);
 
  ChassisControllerBuilder &withMaxVoltage(double imaxVoltage);
 
  ChassisControllerBuilder &
  withChassisControllerTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
 
  ChassisControllerBuilder &
  withClosedLoopControllerTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
 
  ChassisControllerBuilder &withClosedLoopControllerTimeUtil(double iatTargetError = 50,
                                                             double iatTargetDerivative = 5,
                                                             const QTime &iatTargetTime = 250_ms);
 
  ChassisControllerBuilder &withOdometryTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
 
  ChassisControllerBuilder &withLogger(const std::shared_ptr<Logger> &ilogger);
 
  ChassisControllerBuilder &parentedToCurrentTask();
 
  ChassisControllerBuilder &notParentedToCurrentTask();
 
  std::shared_ptr<ChassisController> build();
 
  std::shared_ptr<OdomChassisController> buildOdometry();
 
  private:
  std::shared_ptr<Logger> logger;
 
  struct SkidSteerMotors {
    std::shared_ptr<AbstractMotor> left;
    std::shared_ptr<AbstractMotor> right;
  };
 
  struct XDriveMotors {
    std::shared_ptr<AbstractMotor> topLeft;
    std::shared_ptr<AbstractMotor> topRight;
    std::shared_ptr<AbstractMotor> bottomRight;
    std::shared_ptr<AbstractMotor> bottomLeft;
  };
 
  struct HDriveMotors {
    std::shared_ptr<AbstractMotor> left;
    std::shared_ptr<AbstractMotor> right;
    std::shared_ptr<AbstractMotor> middle;
  };
 
  enum class DriveMode { SkidSteer, XDrive, HDrive };
 
  bool hasMotors{false}; // Used to verify motors were passed
  DriveMode driveMode{DriveMode::SkidSteer};
  SkidSteerMotors skidSteerMotors;
  XDriveMotors xDriveMotors;
  HDriveMotors hDriveMotors;
 
  bool sensorsSetByUser{false}; // Used so motors don't overwrite sensors set manually
  std::shared_ptr<ContinuousRotarySensor> leftSensor{nullptr};
  std::shared_ptr<ContinuousRotarySensor> rightSensor{nullptr};
  std::shared_ptr<ContinuousRotarySensor> middleSensor{nullptr};
 
  bool hasGains{false}; // Whether gains were passed, no gains means CCI
  IterativePosPIDController::Gains distanceGains;
  std::unique_ptr<Filter> distanceFilter = std::make_unique<PassthroughFilter>();
  IterativePosPIDController::Gains angleGains;
  std::unique_ptr<Filter> angleFilter = std::make_unique<PassthroughFilter>();
  IterativePosPIDController::Gains turnGains;
  std::unique_ptr<Filter> turnFilter = std::make_unique<PassthroughFilter>();
  TimeUtilFactory chassisControllerTimeUtilFactory = TimeUtilFactory();
  TimeUtilFactory closedLoopControllerTimeUtilFactory = TimeUtilFactory();
  TimeUtilFactory odometryTimeUtilFactory = TimeUtilFactory();
 
  AbstractMotor::GearsetRatioPair gearset{AbstractMotor::gearset::invalid, 1.0};
  ChassisScales driveScales{{1, 1}, imev5GreenTPR};
  bool differentOdomScales{false};
  ChassisScales odomScales{{1, 1}, imev5GreenTPR};
  std::shared_ptr<Logger> controllerLogger = Logger::getDefaultLogger();
 
  bool hasOdom{false}; // Whether odometry was passed
  std::shared_ptr<Odometry> odometry;
  StateMode stateMode;
  QLength moveThreshold;
  QAngle turnThreshold;
 
  bool maxVelSetByUser{false}; // Used so motors don't overwrite maxVelocity
  double maxVelocity{600};
 
  double maxVoltage{12000};
 
  bool isParentedToCurrentTask{true};
 
  std::shared_ptr<ChassisControllerPID> buildCCPID();
  std::shared_ptr<ChassisControllerIntegrated> buildCCI();
  std::shared_ptr<DefaultOdomChassisController>
  buildDOCC(std::shared_ptr<ChassisController> chassisController);
 
  std::shared_ptr<ChassisModel> makeChassisModel();
  std::shared_ptr<SkidSteerModel> makeSkidSteerModel();
  std::shared_ptr<XDriveModel> makeXDriveModel();
  std::shared_ptr<HDriveModel> makeHDriveModel();
};
} // namespace okapi