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Move constants definitions to impl file, add per-stream compression c…
…onstants (#321) * Move constants definitions to impl file, add per-stream compression constants * Fix formatting
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| Original file line number | Diff line number | Diff line change |
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| #include "Constants.h" | ||
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| #include "kinematics/DiffDriveKinematics.h" | ||
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| namespace Constants { | ||
| // TODO: make sure these are still accurate with the new arm. | ||
| const double SHOULDER_LENGTH = 0.6; // placeholder(m) | ||
| const double ELBOW_LENGTH = 0.7; // placeholder(m) | ||
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| /** | ||
| Number of millidegrees per degree | ||
| */ | ||
| const float MDEG_PER_DEG = 1000; | ||
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| // TODO: tune these drive constants | ||
| const double ROBOT_LENGTH = 1.0; | ||
| /** | ||
| Distance between left and right wheels. | ||
| */ | ||
| const double WHEEL_BASE = 2. / 3.; | ||
| /** | ||
| Effective distance between wheels. Tweaked so that actual rover angular rate roughly matches | ||
| the commanded angular rate. | ||
| */ | ||
| const double EFF_WHEEL_BASE = 1.40; // tweaked to match 2-wheel kinematic model | ||
| const double WHEEL_RADIUS = 0.15; // eyeballed | ||
| const double PWM_PER_RAD_PER_SEC = 5000; // eyeballed | ||
| const double MAX_DRIVE_PWM = 25000; // can be up to 2^15 - 1 (32767) but we have limited it | ||
| // because driving at full speed draws a massive amount | ||
| // of current that's too much for our power supply (and | ||
| // the rover's full speed is somewhat hard to control | ||
| // while it's driving) | ||
| /** | ||
| @brief Maximum tangential velocity for the rover's wheels. | ||
| If the rover is driving straight and not turning, this is the maximum forward velocity | ||
| (i.e. `dx` in setCmdVel()) of the rover. | ||
| */ | ||
| const double MAX_WHEEL_VEL = WHEEL_RADIUS * MAX_DRIVE_PWM / PWM_PER_RAD_PER_SEC; | ||
| /** | ||
| @brief Maximum angular velocity (i.e. `dtheta` in setCmdVel()) of the rover. | ||
| Computed assuming that the left wheel is going at full speed backwards while the right wheel | ||
| is going at full speed forwards. | ||
| */ | ||
| const double MAX_DTHETA = kinematics::DiffDriveKinematics(EFF_WHEEL_BASE) | ||
| .wheelVelToRobotVel(-MAX_WHEEL_VEL, MAX_WHEEL_VEL)(2); | ||
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| // TODO: We need to recalibrate the camera, since we replaced it with a different one. | ||
| // TODO: rename cameras (in MC as well) as appropriate | ||
| const char* MAST_CAMERA_CONFIG_PATH = "../camera-config/MastCameraCalibration.yml"; | ||
| const robot::types::CameraID MAST_CAMERA_ID = | ||
| "upperArm"; // TODO: replace with real camera name | ||
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| const char* FOREARM_CAMERA_CONFIG_PATH = "../camera-config/ForearmCameraCalibration.yml"; | ||
| const robot::types::CameraID FOREARM_CAMERA_ID = "rear"; | ||
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| const char* HAND_CAMERA_CONFIG_PATH = "../camera-config/HandCameraCalibration.yml"; | ||
| const robot::types::CameraID HAND_CAMERA_ID = "front"; | ||
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| /** | ||
| @deprecated No need for this constant once we fully switch over the Mission Control PlanViz | ||
| */ | ||
| const uint16_t PLANVIZ_SERVER_PORT = 9002; | ||
| const uint16_t WS_SERVER_PORT = 3001; | ||
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| /** | ||
| WebSocket server endpoint for the mission control protocol. | ||
| */ | ||
| const char* MC_PROTOCOL_NAME = "/mission-control"; | ||
| /** | ||
| WebSocket server endpoint for the simulator protocol. | ||
| */ | ||
| const char* SIM_PROTOCOL_NAME = "/simulator"; | ||
| /** | ||
| WebSocket server endpoint for the DGPS protocol. | ||
| */ | ||
| const char* DGPS_PROTOCOL_NAME = "/dgps"; | ||
| /** | ||
| Websocket server endpoint for ArduPilot protocol | ||
| */ | ||
| const char* ARDUPILOT_PROTOCOL_NAME = "/ardupilot"; | ||
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| const std::chrono::milliseconds JOINT_POWER_REPEAT_PERIOD(333); | ||
| const std::chrono::milliseconds ARM_IK_UPDATE_PERIOD(50); | ||
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| namespace Nav { | ||
| // Distance (m) we could have traveled forward in the time it takes to turn 1 radian | ||
| const double RADIAN_COST = EFF_WHEEL_BASE / 2.0; | ||
| // Planner stays this far away from obstacles (m) | ||
| const double SAFE_RADIUS = Constants::ROBOT_LENGTH * 1.3; | ||
| const int MAX_ITERS = 3000; // Max number of nodes expanded during A* search | ||
| const double PLAN_RESOLUTION = Constants::ROBOT_LENGTH; // m | ||
| const double SEARCH_RADIUS_INCREMENT = Constants::ROBOT_LENGTH * 3; | ||
| const double GPS_WAYPOINT_RADIUS = Constants::ROBOT_LENGTH * 1.5; | ||
| const double LANDMARK_WAYPOINT_RADIUS = Constants::ROBOT_LENGTH * 1.3; | ||
| const double EPS = 2.0; // heuristic weight for weighted A* | ||
| } // namespace Nav | ||
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| // Lidar | ||
| namespace Lidar { | ||
| const std::string RP_PATH = "/dev/ttyUSB0"; | ||
| const double MM_PER_M = 1000; | ||
| const uint32_t RPLIDAR_A1_BAUDRATE = 115200; | ||
| const uint32_t RPLIDAR_S1_BAUDRATE = 256000; | ||
| } // namespace Lidar | ||
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| // Video encoding | ||
| namespace video { | ||
| const int H264_RF_CONSTANT = 40; | ||
| const std::unordered_map<robot::types::CameraID, int> STREAM_RFS = { | ||
| {Constants::HAND_CAMERA_ID, 30}}; | ||
| } // namespace video | ||
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| // Arm inverse kinematics | ||
| namespace arm { | ||
| /** | ||
| * Percentage of fully extended overall arm length to limit arm extension within. | ||
| */ | ||
| const double SAFETY_FACTOR = 0.95; | ||
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| /** | ||
| * Maximum commanded end-effector velocity, in m/s | ||
| */ | ||
| const double MAX_EE_VEL = 0.1; | ||
| const double IK_SOLVER_THRESH = 0.001; | ||
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| const int IK_SOLVER_MAX_ITER = 50; | ||
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| /** | ||
| * The joints corresponding to the motors used for IK in the arm. The ordering in this array is | ||
| * the canonical ordering of these joints for IK purposes. | ||
| */ | ||
| const std::array<robot::types::jointid_t, 2> IK_MOTOR_JOINTS = { | ||
| robot::types::jointid_t::shoulder, robot::types::jointid_t::elbow}; | ||
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| /** | ||
| * The motors used in IK. The i-th element in this array corresponds to the joint in the i-th | ||
| * element of `IK_MOTOR_JOINTS` | ||
| */ | ||
| const std::array<robot::types::motorid_t, 2> IK_MOTORS = ([]() { | ||
| std::array<robot::types::motorid_t, IK_MOTOR_JOINTS.size()> ret{}; | ||
| for (size_t i = 0; i < IK_MOTOR_JOINTS.size(); i++) { | ||
| ret[i] = JOINT_MOTOR_MAP.at(IK_MOTOR_JOINTS[i]); | ||
| } | ||
| return ret; | ||
| })(); | ||
| } // namespace arm | ||
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| const double CONTROL_HZ = 10.0; | ||
| } // namespace Constants |
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