RR9 refactor #214
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RR9 refactor #214
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* fixes esp class in common and updates esp demo working w web server /drive (#151) * adds GPS demo (#145) * adds GPS demo * adds tested and working translate mode (#147) * Merging latest working development into main branch (#144) * fixes all broken unit tests on drive (#142) * Adrien latest working drive/arm (#143) * latest working arm and drive code used during club day * fixes arm mission control parsing * reverts substring drive parser Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * fixes variable name for back wheel offset (#148) * fixes esp class in common and updates esp demo working w web server /drive (#151) Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * deletes arm subfolder, major overhaul to structure, need testing (#152) * Mapped hand angles to go from 0 to 100. Any value below 0 will get ceiling to 0. Any value above 100 will get floored to 100 * New hand demo for rr9 (#171) * adds rr9 demo * tested demo, motor stops when passed angle 100, moves clockwise when given angle < 0, moves cc when given angle > 120 * fixed most type conversion (#179) * fixed most type conversion * mismatched mission control parser * Drive warnings (#184) * Dev mergeconflicts (#188) * merge conflicts + variable name change * Fixing main control loop * fixed merge conflicts and arm main control loop works Co-authored-by: Gene Luong <[email protected]> * combined hand and arm dto and modes together (#189) Co-authored-by: mchan2003 <[email protected]> * Remove lerping from subsystem-arm (#185) * Lerp speed of arm, replaces angle lerp * Remove lerping from arm, it doesn't do anything * Cleanup from removing lerp, code builds now Co-authored-by: coreyboy1820 <[email protected]> * Corey home fix (#194) * Homing logic fix * commiting common * Add rr9-demo (#196) * adds rr9 demo * tested demo, motor stops when passed angle 100, moves clockwise when given angle < 0, moves cc when given angle > 120 * start and stop for servo * open close tested * need to fix analog reading problems * Nina and Hanyu's Working RR9 Demo w/ Potentiometer Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Viha123 <[email protected]> Co-authored-by: Viha Shah <[email protected]> * 4 Mpu demo (#198) * Dev mergeconflicts (#186) * fixes esp class in common and updates esp demo working w web server /drive (#151) * adds GPS demo (#145) * adds GPS demo * adds tested and working translate mode (#147) * Merging latest working development into main branch (#144) * fixes all broken unit tests on drive (#142) * Adrien latest working drive/arm (#143) * latest working arm and drive code used during club day * fixes arm mission control parsing * reverts substring drive parser Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * fixes variable name for back wheel offset (#148) * fixes esp class in common and updates esp demo working w web server /drive (#151) Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * deletes arm subfolder, major overhaul to structure, need testing (#152) * Mapped hand angles to go from 0 to 100. Any value below 0 will get ceiling to 0. Any value above 100 will get floored to 100 * New hand demo for rr9 (#171) * adds rr9 demo * tested demo, motor stops when passed angle 100, moves clockwise when given angle < 0, moves cc when given angle > 120 * fixed most type conversion (#179) * fixed most type conversion * mismatched mission control parser * Drive warnings (#184) * merge conflicts + variable name change * Fixing main control loop * fixed merge conflicts and arm main control loop works Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: Gene Luong <[email protected]> * Revert "Dev mergeconflicts (#186)" (#187) This reverts commit 84af8d4. * mux implemented * tested * Fixed mux's access to addresses at different times * singular mpu tests * merge fix Co-authored-by: Coreyboy1820 <[email protected]> Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: coreyboy1820 <[email protected]> * Tca9458 alib (#199) * Dev mergeconflicts (#186) * fixes esp class in common and updates esp demo working w web server /drive (#151) * adds GPS demo (#145) * adds GPS demo * adds tested and working translate mode (#147) * Merging latest working development into main branch (#144) * fixes all broken unit tests on drive (#142) * Adrien latest working drive/arm (#143) * latest working arm and drive code used during club day * fixes arm mission control parsing * reverts substring drive parser Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * fixes variable name for back wheel offset (#148) * fixes esp class in common and updates esp demo working w web server /drive (#151) Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * deletes arm subfolder, major overhaul to structure, need testing (#152) * Mapped hand angles to go from 0 to 100. Any value below 0 will get ceiling to 0. Any value above 100 will get floored to 100 * New hand demo for rr9 (#171) * adds rr9 demo * tested demo, motor stops when passed angle 100, moves clockwise when given angle < 0, moves cc when given angle > 120 * fixed most type conversion (#179) * fixed most type conversion * mismatched mission control parser * Drive warnings (#184) * merge conflicts + variable name change * Fixing main control loop * fixed merge conflicts and arm main control loop works Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: Gene Luong <[email protected]> * Revert "Dev mergeconflicts (#186)" (#187) This reverts commit 84af8d4. * mux implemented * Develop (#195) * fixes esp class in common and updates esp demo working w web server /drive (#151) * adds GPS demo (#145) * adds GPS demo * adds tested and working translate mode (#147) * Merging latest working development into main branch (#144) * fixes all broken unit tests on drive (#142) * Adrien latest working drive/arm (#143) * latest working arm and drive code used during club day * fixes arm mission control parsing * reverts substring drive parser Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * fixes variable name for back wheel offset (#148) * fixes esp class in common and updates esp demo working w web server /drive (#151) Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * deletes arm subfolder, major overhaul to structure, need testing (#152) * Mapped hand angles to go from 0 to 100. Any value below 0 will get ceiling to 0. Any value above 100 will get floored to 100 * New hand demo for rr9 (#171) * adds rr9 demo * tested demo, motor stops when passed angle 100, moves clockwise when given angle < 0, moves cc when given angle > 120 * fixed most type conversion (#179) * fixed most type conversion * mismatched mission control parser * Drive warnings (#184) * Dev mergeconflicts (#188) * merge conflicts + variable name change * Fixing main control loop * fixed merge conflicts and arm main control loop works Co-authored-by: Gene Luong <[email protected]> * combined hand and arm dto and modes together (#189) Co-authored-by: mchan2003 <[email protected]> * Remove lerping from subsystem-arm (#185) * Lerp speed of arm, replaces angle lerp * Remove lerping from arm, it doesn't do anything * Cleanup from removing lerp, code builds now Co-authored-by: coreyboy1820 <[email protected]> * Corey home fix (#194) * Homing logic fix * commiting common Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: Gene Luong <[email protected]> Co-authored-by: mchan2003 <[email protected]> Co-authored-by: Evan Astle <[email protected]> * tested * Fixed mux's access to addresses at different times * singular mpu tests * openBus() created * 11-12-22 * mpu-demo update * delay update * fixed demos Co-authored-by: Coreyboy1820 <[email protected]> Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: mchan2003 <[email protected]> Co-authored-by: Evan Astle <[email protected]> Co-authored-by: coreyboy1820 <[email protected]> * Adrien simpler json drive (#201) * static cast non-matching functions, will need someone else to look at lerp functions * comparing floating point with == or != is unsafe * fixed homeLeg while moving logic * ratio'd * irl tested * static_cast<float> to f * adds a simpler json for quicker parsing or data with wifi communication * changed homing to uncommented * takes out lerping for drive angles Co-authored-by: Gene Luong <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: coreyboy1820 <[email protected]> Co-authored-by: Coreyboy1820 <[email protected]> * Tri wheel router refactor (#200) * Move wheel offsets into leg struct * Moved zeroing logic into private function * Fix copy-paste mistakes * Rename new function * Moved homing logic into private function * Use binary operator to avoid short circuit * Remove unusued variable * Rr9 router demo (#204) * updated rr9-router and arm arguments * added rr9 router demo * adds router for rr9 * experimental rr9 router serial implementation * Hanyu, Nina and Viha's code rr9-router demo with serial * Hanyu, Nina, Viha added rr9 functionality to hand router * fixed warnings and errors * rr9 works with sample mission control data in rr9-demo-branch Co-authored-by: ninaw04 <[email protected]> Co-authored-by: Hanyu <[email protected]> * Dev merge conflicts (#206) * Dev mergeconflicts (#186) * fixes esp class in common and updates esp demo working w web server /drive (#151) * adds GPS demo (#145) * adds GPS demo * adds tested and working translate mode (#147) * Merging latest working development into main branch (#144) * fixes all broken unit tests on drive (#142) * Adrien latest working drive/arm (#143) * latest working arm and drive code used during club day * fixes arm mission control parsing * reverts substring drive parser Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * fixes variable name for back wheel offset (#148) * fixes esp class in common and updates esp demo working w web server /drive (#151) Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * deletes arm subfolder, major overhaul to structure, need testing (#152) * Mapped hand angles to go from 0 to 100. Any value below 0 will get ceiling to 0. Any value above 100 will get floored to 100 * New hand demo for rr9 (#171) * adds rr9 demo * tested demo, motor stops when passed angle 100, moves clockwise when given angle < 0, moves cc when given angle > 120 * fixed most type conversion (#179) * fixed most type conversion * mismatched mission control parser * Drive warnings (#184) * merge conflicts + variable name change * Fixing main control loop * fixed merge conflicts and arm main control loop works Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: Gene Luong <[email protected]> * Revert "Dev mergeconflicts (#186)" (#187) This reverts commit 84af8d4. * Develop (#195) * fixes esp class in common and updates esp demo working w web server /drive (#151) * adds GPS demo (#145) * adds GPS demo * adds tested and working translate mode (#147) * Merging latest working development into main branch (#144) * fixes all broken unit tests on drive (#142) * Adrien latest working drive/arm (#143) * latest working arm and drive code used during club day * fixes arm mission control parsing * reverts substring drive parser Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * fixes variable name for back wheel offset (#148) * fixes esp class in common and updates esp demo working w web server /drive (#151) Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: naterpotatoers <[email protected]> * deletes arm subfolder, major overhaul to structure, need testing (#152) * Mapped hand angles to go from 0 to 100. Any value below 0 will get ceiling to 0. Any value above 100 will get floored to 100 * New hand demo for rr9 (#171) * adds rr9 demo * tested demo, motor stops when passed angle 100, moves clockwise when given angle < 0, moves cc when given angle > 120 * fixed most type conversion (#179) * fixed most type conversion * mismatched mission control parser * Drive warnings (#184) * Dev mergeconflicts (#188) * merge conflicts + variable name change * Fixing main control loop * fixed merge conflicts and arm main control loop works Co-authored-by: Gene Luong <[email protected]> * combined hand and arm dto and modes together (#189) Co-authored-by: mchan2003 <[email protected]> * Remove lerping from subsystem-arm (#185) * Lerp speed of arm, replaces angle lerp * Remove lerping from arm, it doesn't do anything * Cleanup from removing lerp, code builds now Co-authored-by: coreyboy1820 <[email protected]> * Corey home fix (#194) * Homing logic fix * commiting common Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: Gene Luong <[email protected]> Co-authored-by: mchan2003 <[email protected]> Co-authored-by: Evan Astle <[email protected]> Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: Gene Luong <[email protected]> Co-authored-by: mchan2003 <[email protected]> Co-authored-by: Evan Astle <[email protected]> Co-authored-by: Nathanael Garza <[email protected]> Co-authored-by: Adrien <[email protected]> Co-authored-by: naterpotatoers <[email protected]> Co-authored-by: Ahmed Sabzwari <[email protected]> Co-authored-by: FluffyFTW <[email protected]> Co-authored-by: Gene Luong <[email protected]> Co-authored-by: mchan2003 <[email protected]> Co-authored-by: Evan Astle <[email protected]> Co-authored-by: Nina Wang <[email protected]> Co-authored-by: Viha123 <[email protected]> Co-authored-by: Viha Shah <[email protected]> Co-authored-by: ninaw04 <[email protected]> Co-authored-by: Hanyu <[email protected]>
…tations/dtos instead of local ones, fixes broken mc parser test
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@naterpotatoers you and I need to go through this branch because I accidentally stepped all over this pr without realizing it a few weeks ago. There are a few things we want from here. |
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Contains new arm dto (6 angles) and replacing modes with speed argument.
Contains all the logic for controlling rr9 end effector w/ mission control
Had some help from @ninaw04 and @Viha123