ramsete.hpp

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#pragma once
 
#include <functional>
#include <vector>
 
#include "LightLib/drive/trajectory.hpp"
 
namespace light {
 
enum class Follower {
  RAMSETE,
  PURE_PURSUIT,
};
 
struct PathEvent {
  int atWaypoint = 0;            
  std::function<void()> action;  
};
 
struct RamseteConfig {
  float b = 2.0f;          
  float zeta = 0.7f;       
  float trackWidthIn = 12.0f; 
  float wheelDiamIn = 3.25f;  
  float gearRatio = 0.75f; 
};
 
struct DriveFF {
  float kS = 0.0f;  
  float kV = 0.0f;  
  float kA = 0.0f;  
  float kP = 0.0f;  
};
 
void ramsete_configure(RamseteConfig rc, DriveFF ff, TrajConstraints defaultCons);
 
bool followTrajectory(const Trajectory& traj,
                      int timeoutMs = -1,
                      float poseErrBailIn = 8.0f,
                      Follower follower = Follower::PURE_PURSUIT);
 
bool followTrajectory(const std::vector<Waypoint>& wps,
                      const TrajConstraints& cons,
                      bool reversed = false,
                      int timeoutMs = -1,
                      float poseErrBailIn = 8.0f,
                      Follower follower = Follower::PURE_PURSUIT);
 
bool followTrajectory(const std::vector<Waypoint>& wps,
                      const TrajConstraints& cons,
                      std::vector<PathEvent> events,
                      bool reversed = false,
                      int timeoutMs = -1,
                      float poseErrBailIn = 8.0f,
                      Follower follower = Follower::PURE_PURSUIT);
 
bool followTrajectory(const std::vector<Waypoint>& wps,
                      bool reversed = false,
                      int timeoutMs = -1,
                      float poseErrBailIn = 8.0f,
                      Follower follower = Follower::PURE_PURSUIT);
 
bool followTrajectory(const std::vector<Waypoint>& wps,
                      std::vector<PathEvent> events,
                      bool reversed = false,
                      int timeoutMs = -1,
                      float poseErrBailIn = 8.0f,
                      Follower follower = Follower::PURE_PURSUIT);
 
bool runJerryioPath(const char* csv,
                    bool reversed = false,
                    int timeoutMs = -1,
                    float poseErrBailIn = 8.0f,
                    Follower follower = Follower::PURE_PURSUIT);
 
bool runJerryioPath(const char* csv,
                    std::vector<PathEvent> events,
                    bool reversed = false,
                    int timeoutMs = -1,
                    float poseErrBailIn = 8.0f,
                    Follower follower = Follower::PURE_PURSUIT);
 
bool runJerryioPathFromSD(const char* filePath,
                          bool reversed = false,
                          int timeoutMs = -1,
                          float poseErrBailIn = 8.0f,
                          Follower follower = Follower::PURE_PURSUIT);
 
bool runJerryioPathFromSD(const char* filePath,
                          std::vector<PathEvent> events,
                          bool reversed = false,
                          int timeoutMs = -1,
                          float poseErrBailIn = 8.0f,
                          Follower follower = Follower::PURE_PURSUIT);
 
void characterize_kV_kA_kS(float maxVoltage = 10.0f, float rampVps = 0.25f);
 
float characterize_track_width(int rotations = 10);
 
float characterize_a_lat_max();
 
void characterize_friction(float maxVoltage = 10.0f, float stepV = 0.5f);
} // namespace light