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Updated arms::RELATIVE functionality | Implement movements based on vectors #103

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merged 8 commits into from
Oct 6, 2023
Merged

Updated arms::RELATIVE functionality | Implement movements based on vectors #103

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9171227
gasington. new relative OP
BennyBot Mar 2, 2023
170c3e8
bugfixes and start of moveVector
BennyBot Mar 2, 2023
55671cc
remove print statements
BennyBot Mar 2, 2023
1fb211c
angle bugfixes
BennyBot Mar 3, 2023
684bef9
Merge remote-tracking branch 'origin/master' into feature/relative-vs…
BennyBot Mar 30, 2023
2c30200
it works and Mihir approves
BennyBot Mar 30, 2023
776c559
Committing clang-format changes
Mar 30, 2023
3d6d79d
revert config.h, remove [email protected]
AndrewLuGit Oct 6, 2023
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2 changes: 1 addition & 1 deletion Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
IS_LIBRARY:=1

LIBNAME:=ARMS
VERSION:=3.1.2
VERSION:=3.2.0
# EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
# this line excludes opcontrol.c and similar files
EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
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16 changes: 16 additions & 0 deletions include/ARMS/chassis.h
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Expand Up @@ -65,6 +65,22 @@ void turn(Point target, double max, double exit_error, MoveFlags = NONE);
void turn(Point target, double max, MoveFlags = NONE);
void turn(Point target, MoveFlags = NONE);

void moveVectorEnd(double magnitude, double angle, double max, double exit_error,
double lp, double ap, MoveFlags = NONE);
void moveVectorEnd(double magnitude, double angle, double max, double exit_error,
MoveFlags = NONE);
void moveVectorEnd(double magnitude, double angle, double max, MoveFlags = NONE);
void moveVectorEnd(double magnitude, double angle, MoveFlags = NONE);

void moveVectorPath(double magnitude, double angle, double max, double exit_error,
double lp, double ap, MoveFlags = NONE);
void moveVectorPath(double magnitude, double angle, double max, double exit_error,
MoveFlags = NONE);
void moveVectorPath(double magnitude, double angle, double max, MoveFlags = NONE);
void moveVectorPath(double magnitude, double angle, MoveFlags = NONE);



/**
* Assign a power to the left and right motors
*/
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3 changes: 1 addition & 2 deletions include/ARMS/config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@

#include "ARMS/api.h"


namespace arms {

// Debug
Expand Down Expand Up @@ -69,4 +68,4 @@ inline void init() {

} // namespace arms

#endif
#endif
62 changes: 40 additions & 22 deletions include/ARMS/flags.h
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Expand Up @@ -6,92 +6,110 @@ namespace arms {
struct MoveFlags {

bool async;
bool relative;
bool true_relative;
bool thru;
bool reverse;
bool relative;

MoveFlags operator|(MoveFlags& o) {
MoveFlags ret;
ret.async = async || o.async;
ret.relative = relative || o.relative;
ret.true_relative = true_relative || o.true_relative;
ret.thru = thru || o.thru;
ret.reverse = reverse || o.reverse;
ret.relative = relative || o.relative;
return ret;
}

MoveFlags operator&(MoveFlags& o) {
MoveFlags ret;
ret.async = async && o.async;
ret.relative = relative && o.relative;
ret.true_relative = true_relative && o.true_relative;
ret.thru = thru && o.thru;
ret.reverse = reverse && o.reverse;
ret.relative = relative && o.relative;
return ret;
}

MoveFlags operator~() {
MoveFlags ret;
ret.async = !async;
ret.true_relative = !true_relative;
ret.thru = !thru;
ret.reverse = !reverse;
ret.relative = !relative;
return ret;
}

MoveFlags operator|(const MoveFlags& o) {
MoveFlags ret;
ret.async = async || o.async;
ret.relative = relative || o.relative;
ret.true_relative = true_relative || o.true_relative;
ret.thru = thru || o.thru;
ret.reverse = reverse || o.reverse;
ret.relative = relative || o.relative;
return ret;
}

MoveFlags operator&(const MoveFlags& o) {
MoveFlags ret;
ret.async = async && o.async;
ret.relative = relative && o.relative;
ret.thru = thru && o.thru;
ret.reverse = reverse && o.reverse;
return ret;
}

operator bool() {
return async || relative || thru || reverse;
return async || true_relative || thru || reverse || relative;
}
};

inline MoveFlags operator|(const MoveFlags& f, MoveFlags& o) {
MoveFlags ret;
ret.async = f.async || o.async;
ret.relative = f.relative || o.relative;
ret.true_relative = f.true_relative || o.true_relative;
ret.thru = f.thru || o.thru;
ret.reverse = f.reverse || o.reverse;
ret.relative = f.relative || o.relative;
return ret;
}

inline MoveFlags operator&(const MoveFlags& f, MoveFlags& o) {
MoveFlags ret;
ret.async = f.async && o.async;
ret.relative = f.relative && o.relative;
ret.true_relative = f.true_relative && o.true_relative;
ret.thru = f.thru && o.thru;
ret.reverse = f.reverse && o.reverse;
ret.relative = f.relative && o.relative;
return ret;
}

inline MoveFlags operator|(const MoveFlags& f, const MoveFlags& o) {
MoveFlags ret;
ret.async = f.async || o.async;
ret.relative = f.relative || o.relative;
ret.true_relative = f.true_relative || o.true_relative;
ret.thru = f.thru || o.thru;
ret.reverse = f.reverse || o.reverse;
ret.relative = f.relative || o.relative;
return ret;
}

inline MoveFlags operator&(const MoveFlags& f, const MoveFlags& o) {
MoveFlags ret;
ret.async = f.async && o.async;
ret.relative = f.relative && o.relative;
ret.true_relative = f.true_relative && o.true_relative;
ret.thru = f.thru && o.thru;
ret.reverse = f.reverse && o.reverse;
ret.relative = f.relative && o.relative;
return ret;
}

const MoveFlags NONE = {false, false, false, false};
const MoveFlags ASYNC = {true, false, false, false};
const MoveFlags RELATIVE = {false, true, false, false};
const MoveFlags THRU = {false, false, true, false};
const MoveFlags REVERSE = {false, false, false, true};
const MoveFlags NONE = {false, false, false, false, false};
const MoveFlags ASYNC = {true, false, false, false, false};
const MoveFlags TRUE_RELATIVE = {false, true, false, false, false};
const MoveFlags THRU = {false, false, true, false, false};
const MoveFlags REVERSE = {false, false, false, true, false};
const MoveFlags RELATIVE = {false, false, false, false, true};

const MoveFlags NOT_ASYNC = {false, true, true, true, true};
const MoveFlags NOT_TRUE_RELATIVE = {true, false, true, true, true};
const MoveFlags NOT_THRU = {true, true, false, true, true};
const MoveFlags NOT_REVERSE = {true, true, true, false, true};
const MoveFlags NOT_RELATIVE = {true, true, true, true, false};


} // namespace arms

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21 changes: 21 additions & 0 deletions include/ARMS/odom.h
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Expand Up @@ -41,11 +41,32 @@ double getMiddleEncoder();
*/
Point getPosition();

/**
* Return the desired robot position coordinates
*/
Point getDesiredPosition();


/**
* Set the desired robot position coordinates
*/
void setDesiredPosition(Point point);

/**
* Set the desired robot heading
*/
void setDesiredHeading(double angle);

/**
* Return the robot heading
*/
double getHeading(bool radians = false);

/**
* Return the desired robot heading
*/
double getDesiredHeading(bool radians = false);

/**
* Reset the robot position to a desired coordinate
*/
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