#include <odomChassisController.hpp>

Inheritance diagram for okapi::OdomChassisController:

Public Member Functions
	OdomChassisController (TimeUtil itimeUtil, std::shared_ptr< Odometry > iodometry, const StateMode &imode=StateMode::FRAME_TRANSFORMATION, const QLength &imoveThreshold=0_mm, const QAngle &iturnThreshold=0_deg, std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	Odometry based chassis controller.

	~OdomChassisController () override

	OdomChassisController (const OdomChassisController &)=delete

	OdomChassisController (OdomChassisController &&other)=delete

OdomChassisController &	operator= (const OdomChassisController &other)=delete

OdomChassisController &	operator= (OdomChassisController &&other)=delete

virtual void	driveToPoint (const Point &ipoint, bool ibackwards=false, const QLength &ioffset=0_mm)=0
	Drives the robot straight to a point in the odom frame.

virtual void	turnToPoint (const Point &ipoint)=0
	Turns the robot to face a point in the odom frame.

virtual void	turnToAngle (const QAngle &iangle)=0
	Turns the robot to face an angle in the odom frame.

virtual OdomState	getState () const

virtual void	setState (const OdomState &istate)
	Set a new state to be the current state.

void	setDefaultStateMode (const StateMode &imode)
	Sets a default StateMode that will be used to interpret target points and query the Odometry state.

virtual void	setMoveThreshold (const QLength &imoveThreshold)
	Set a new move threshold.

virtual void	setTurnThreshold (const QAngle &iturnTreshold)
	Set a new turn threshold.

virtual QLength	getMoveThreshold () const

virtual QAngle	getTurnThreshold () const

void	startOdomThread ()
	Starts the internal odometry thread.

CrossplatformThread *	getOdomThread () const

std::shared_ptr< Odometry >	getOdometry ()

Public Member Functions inherited from okapi::ChassisController
	ChassisController ()=default
	A ChassisController adds a closed-loop layer on top of a ChassisModel.

virtual	~ChassisController ()=default

virtual void	moveDistance (QLength itarget)=0
	Drives the robot straight for a distance (using closed-loop control).

virtual void	moveRaw (double itarget)=0
	Drives the robot straight for a distance (using closed-loop control).

virtual void	moveDistanceAsync (QLength itarget)=0
	Sets the target distance for the robot to drive straight (using closed-loop control).

virtual void	moveRawAsync (double itarget)=0
	Sets the target distance for the robot to drive straight (using closed-loop control).

virtual void	turnAngle (QAngle idegTarget)=0
	Turns the robot clockwise in place (using closed-loop control).

virtual void	turnRaw (double idegTarget)=0
	Turns the robot clockwise in place (using closed-loop control).

virtual void	turnAngleAsync (QAngle idegTarget)=0
	Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

virtual void	turnRawAsync (double idegTarget)=0
	Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

virtual void	setTurnsMirrored (bool ishouldMirror)=0
	Sets whether turns should be mirrored.

virtual bool	isSettled ()=0
	Checks whether the internal controllers are currently settled.

virtual void	waitUntilSettled ()=0
	Delays until the currently executing movement completes.

virtual void	stop ()=0
	Interrupts the current movement to stop the robot.

virtual void	setMaxVelocity (double imaxVelocity)=0
	Sets a new maximum velocity in RPM [0-600].

virtual double	getMaxVelocity () const =0

virtual ChassisScales	getChassisScales () const =0
	Get the ChassisScales.

virtual AbstractMotor::GearsetRatioPair	getGearsetRatioPair () const =0
	Get the GearsetRatioPair.

virtual std::shared_ptr< ChassisModel >	getModel ()=0

virtual ChassisModel &	model ()=0

Protected Member Functions
void	loop ()

Static Protected Member Functions
static void	trampoline (void *context)

Protected Attributes
std::shared_ptr< Logger >	logger

TimeUtil	timeUtil

QLength	moveThreshold

QAngle	turnThreshold

std::shared_ptr< Odometry >	odom

CrossplatformThread *	odomTask {nullptr}

std::atomic_bool	dtorCalled {false}

StateMode	defaultStateMode {StateMode::FRAME_TRANSFORMATION}

std::atomic_bool	odomTaskRunning {false}

Detailed Description

Definition at line 22 of file odomChassisController.hpp.

Constructor & Destructor Documentation

◆ OdomChassisController() [1/3]

okapi::OdomChassisController::OdomChassisController	(	TimeUtil	itimeUtil,
		std::shared_ptr< Odometry >	iodometry,
		const StateMode &	imode = `StateMode::FRAME_TRANSFORMATION`,
		const QLength &	imoveThreshold = `0_mm`,
		const QAngle &	iturnThreshold = `0_deg`,
		std::shared_ptr< Logger >	ilogger = `Logger::getDefaultLogger()`
	)

Odometry based chassis controller.

Starts task at the default for odometry when constructed, which calls Odometry::step every 10ms. The default StateMode is StateMode::FRAME_TRANSFORMATION.

Moves the robot around in the odom frame. Instead of telling the robot to drive forward or turn some amount, you instead tell it to drive to a specific point on the field or turn to a specific angle relative to its starting position.

Parameters

itimeUtil	The TimeUtil.
iodometry	The Odometry instance to run in a new task.
imode	The new default StateMode used to interpret target points and query the Odometry state.
imoveThreshold	minimum length movement (smaller movements will be skipped)
iturnThreshold	minimum angle turn (smaller turns will be skipped)

◆ ~OdomChassisController()

okapi::OdomChassisController::~OdomChassisController ( )

override

◆ OdomChassisController() [2/3]

okapi::OdomChassisController::OdomChassisController ( const OdomChassisController & )

delete

◆ OdomChassisController() [3/3]

okapi::OdomChassisController::OdomChassisController ( OdomChassisController && other )

delete

Member Function Documentation

◆ driveToPoint()

virtual void okapi::OdomChassisController::driveToPoint	(	const Point &	ipoint,
		bool	ibackwards = `false`,
		const QLength &	ioffset = `0_mm`
	)

pure virtual

Drives the robot straight to a point in the odom frame.

Parameters

ipoint	The target point to navigate to.
ibackwards	Whether to drive to the target point backwards.
ioffset	An offset from the target point in the direction pointing towards the robot. The robot will stop this far away from the target point.

Implemented in okapi::DefaultOdomChassisController.

◆ getMoveThreshold()

virtual QLength okapi::OdomChassisController::getMoveThreshold ( ) const

virtual

Returns: The current move threshold.

◆ getOdometry()

std::shared_ptr< Odometry > okapi::OdomChassisController::getOdometry ( )

Returns: The internal odometry.

◆ getOdomThread()

CrossplatformThread * okapi::OdomChassisController::getOdomThread ( ) const

Returns: The underlying thread handle.

◆ getState()

virtual OdomState okapi::OdomChassisController::getState ( ) const

virtual

Returns: The current state.

◆ getTurnThreshold()

virtual QAngle okapi::OdomChassisController::getTurnThreshold ( ) const

virtual

Returns: The current turn threshold.

◆ loop()

void okapi::OdomChassisController::loop ( )

protected

◆ operator=() [1/2]

OdomChassisController & okapi::OdomChassisController::operator= ( const OdomChassisController & other )

delete

◆ operator=() [2/2]

OdomChassisController & okapi::OdomChassisController::operator= ( OdomChassisController && other )

delete

◆ setDefaultStateMode()

void okapi::OdomChassisController::setDefaultStateMode ( const StateMode & imode )

Sets a default StateMode that will be used to interpret target points and query the Odometry state.

Parameters

imode The new default StateMode.

◆ setMoveThreshold()

virtual void okapi::OdomChassisController::setMoveThreshold ( const QLength & imoveThreshold )

virtual

Set a new move threshold.

Any requested movements smaller than this threshold will be skipped.

Parameters

imoveThreshold new move threshold

◆ setState()

virtual void okapi::OdomChassisController::setState ( const OdomState & istate )

virtual

Set a new state to be the current state.

The default StateMode is StateMode::FRAME_TRANSFORMATION.

Parameters

istate	The new state in the given format.
imode	The mode to treat the input state as.

◆ setTurnThreshold()

virtual void okapi::OdomChassisController::setTurnThreshold ( const QAngle & iturnTreshold )

virtual

Set a new turn threshold.

Any requested turns smaller than this threshold will be skipped.

Parameters

iturnTreshold new turn threshold

◆ startOdomThread()

void okapi::OdomChassisController::startOdomThread ( )

Starts the internal odometry thread.

This should not be called by normal users.

◆ trampoline()

static void okapi::OdomChassisController::trampoline ( void * context )

staticprotected

◆ turnToAngle()

virtual void okapi::OdomChassisController::turnToAngle ( const QAngle & iangle )

pure virtual

Turns the robot to face an angle in the odom frame.

Parameters

iangle The angle to turn to.

Implemented in okapi::DefaultOdomChassisController.

◆ turnToPoint()

virtual void okapi::OdomChassisController::turnToPoint ( const Point & ipoint )

pure virtual

Turns the robot to face a point in the odom frame.

Parameters

ipoint The target point to turn to face.

Implemented in okapi::DefaultOdomChassisController.

Member Data Documentation

◆ defaultStateMode

StateMode okapi::OdomChassisController::defaultStateMode {StateMode::FRAME_TRANSFORMATION}

protected

Definition at line 148 of file odomChassisController.hpp.

◆ dtorCalled

std::atomic_bool okapi::OdomChassisController::dtorCalled {false}

protected

Definition at line 147 of file odomChassisController.hpp.

◆ logger

std::shared_ptr<Logger> okapi::OdomChassisController::logger

protected

Definition at line 141 of file odomChassisController.hpp.

◆ moveThreshold

QLength okapi::OdomChassisController::moveThreshold

protected

Definition at line 143 of file odomChassisController.hpp.

◆ odom

std::shared_ptr<Odometry> okapi::OdomChassisController::odom

protected

Definition at line 145 of file odomChassisController.hpp.

◆ odomTask

CrossplatformThread* okapi::OdomChassisController::odomTask {nullptr}

protected

Definition at line 146 of file odomChassisController.hpp.

◆ odomTaskRunning

std::atomic_bool okapi::OdomChassisController::odomTaskRunning {false}

protected

Definition at line 149 of file odomChassisController.hpp.

◆ timeUtil

TimeUtil okapi::OdomChassisController::timeUtil

protected

Definition at line 142 of file odomChassisController.hpp.

◆ turnThreshold

QAngle okapi::OdomChassisController::turnThreshold

protected

Definition at line 144 of file odomChassisController.hpp.

The documentation for this class was generated from the following file:

include/okapi/api/chassis/controller/odomChassisController.hpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OdomChassisController() [1/3]

◆ ~OdomChassisController()

◆ OdomChassisController() [2/3]

◆ OdomChassisController() [3/3]

Member Function Documentation

◆ driveToPoint()

◆ getMoveThreshold()

◆ getOdometry()

◆ getOdomThread()

◆ getState()

◆ getTurnThreshold()

◆ loop()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setDefaultStateMode()

◆ setMoveThreshold()

◆ setState()

◆ setTurnThreshold()

◆ startOdomThread()

◆ trampoline()

◆ turnToAngle()

◆ turnToPoint()

Member Data Documentation

◆ defaultStateMode

◆ dtorCalled

◆ logger

◆ moveThreshold

◆ odom

◆ odomTask

◆ odomTaskRunning

◆ timeUtil

◆ turnThreshold