light::sensor_aux Namespace Reference

Functions
void	init (const OdomSensors &sensors)
	Capture the sensor bundle and detect single-wheel modes.
void	tick ()
	Run all four detectors.
float	imuBiasRadPerSec ()
bool	singleVertMode ()
float	singleVertOffset ()
bool	singleHorizMode ()
float	singleHorizOffset ()
bool	slipping ()
int	wallSnapsThisAuton ()
void	resetCounters ()
	Reset diagnostic counters at auton start.

Function Documentation

imuBiasRadPerSec()

float light::sensor_aux::imuBiasRadPerSec

(

)

Returns

Cumulative IMU gyro bias estimate, rad/s. Zero before the first ZUPT trigger; updated each time the robot is detected stationary. odometry.cpp subtracts bias * dt from deltaImu each tick.

init()

void light::sensor_aux::init

(

const OdomSensors &

sensors

)

Capture the sensor bundle and detect single-wheel modes.

resetCounters()

void light::sensor_aux::resetCounters

(

)

Reset diagnostic counters at auton start.

singleHorizMode()

bool light::sensor_aux::singleHorizMode

(

)

Returns

true when exactly one horizontal tracking wheel is configured.

singleHorizOffset()

float light::sensor_aux::singleHorizOffset

(

)

Returns

Stored offset of the single horizontal wheel (0 if not in single-horiz mode).

singleVertMode()

bool light::sensor_aux::singleVertMode

(

)

Returns

true when exactly one vertical tracking wheel is configured.

singleVertOffset()

float light::sensor_aux::singleVertOffset

(

)

Returns

Stored offset of the single vertical wheel (0 if not in single-vert mode).

slipping()

bool light::sensor_aux::slipping

(

)

Returns

true when wheel-IMU heading disagreement exceeds the slip threshold. odometry.cpp zeros translation predict when set.

tick()

void light::sensor_aux::tick

(

)

Run all four detectors.

Call from the odom task immediately after light::update().

wallSnapsThisAuton()

int light::sensor_aux::wallSnapsThisAuton

(

)

Returns

Number of times the wall-snap fired this auton (diagnostic).