From b7f1364b2de6ebb4013045c078101b975d161d65 Mon Sep 17 00:00:00 2001 From: abhaybd Date: Sat, 25 May 2024 05:09:06 +0000 Subject: [PATCH] deploy: 4c0000594c3e68959f21f2c5806ba46d188e7143 --- Globals_8h_source.html | 11 +- MissionControlTasks_8h_source.html | 14 +- control__interface_8h_source.html | 133 ++++++++++ dir_68267d1309a1af8e8297ef4c3efbcdba.html | 2 + doxygen_crawl.html | 8 +- files.html | 5 +- namespacemembers.html | 6 +- namespacemembers_func.html | 6 +- namespacerobot.html | 115 +++++++-- search/all_12.js | 293 +++++++++++----------- search/all_1c.js | 4 +- search/all_20.js | 2 +- search/functions_13.js | 4 +- search/functions_17.js | 2 +- search/functions_9.js | 195 +++++++------- world__interface_8h_source.html | 249 +++++++++--------- 16 files changed, 628 insertions(+), 421 deletions(-) create mode 100644 control__interface_8h_source.html diff --git a/Globals_8h_source.html b/Globals_8h_source.html index 5db04bb3..a9afa437 100644 --- a/Globals_8h_source.html +++ b/Globals_8h_source.html @@ -120,12 +120,11 @@
22namespace Globals {
26extern RoverState curr_state;
27extern net::websocket::SingleClientWSServer websocketServer;
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28extern std::atomic<bool> E_STOP;
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29extern std::atomic<bool> AUTONOMOUS;
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30extern robot::types::mountedperipheral_t mountedPeripheral;
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31extern control::PlanarArmController<2> planarArmController;
-
32extern std::atomic<bool> armIKEnabled;
-
33} // namespace Globals
+
28extern std::atomic<bool> AUTONOMOUS;
+
29extern robot::types::mountedperipheral_t mountedPeripheral;
+
30extern control::PlanarArmController<2> planarArmController;
+
31extern std::atomic<bool> armIKEnabled;
+
32} // namespace Globals
atomic
vector
std::atomic
diff --git a/MissionControlTasks_8h_source.html b/MissionControlTasks_8h_source.html index 360a6a5c..fb5c8c7e 100644 --- a/MissionControlTasks_8h_source.html +++ b/MissionControlTasks_8h_source.html @@ -196,14 +196,14 @@
std::unordered_map
net::mc::tasks::ArmIKTask
This task sets the arm joint positions to track the current IK command.
Definition MissionControlTasks.h:101
net::mc::tasks::CameraStreamTask
This task is responsible for sending the camera streams to Mission Control over websocket.
Definition MissionControlTasks.h:53
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net::mc::tasks::CameraStreamTask::openStream
void openStream(const robot::types::CameraID &cam, int fps)
Start streaming a new camera to Mission Control.
Definition MissionControlTasks.cpp:71
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net::mc::tasks::CameraStreamTask::closeStream
void closeStream(const robot::types::CameraID &cam)
Stop streaming a camera to Mission Control.
Definition MissionControlTasks.cpp:80
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net::mc::tasks::CameraStreamTask::task
void task(std::unique_lock< std::mutex > &lock) override
The long-running task, overridden by client code.
Definition MissionControlTasks.cpp:86
+
net::mc::tasks::CameraStreamTask::openStream
void openStream(const robot::types::CameraID &cam, int fps)
Start streaming a new camera to Mission Control.
Definition MissionControlTasks.cpp:72
+
net::mc::tasks::CameraStreamTask::closeStream
void closeStream(const robot::types::CameraID &cam)
Stop streaming a camera to Mission Control.
Definition MissionControlTasks.cpp:81
+
net::mc::tasks::CameraStreamTask::task
void task(std::unique_lock< std::mutex > &lock) override
The long-running task, overridden by client code.
Definition MissionControlTasks.cpp:87
net::mc::tasks::PowerRepeatTask
This task is responsible for periodically resending setMotorPower commands to the motors.
Definition MissionControlTasks.h:20
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net::mc::tasks::PowerRepeatTask::setJointPower
void setJointPower(robot::types::jointid_t id, double power)
Set the power to resend to the given joint.
Definition MissionControlTasks.cpp:27
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net::mc::tasks::PowerRepeatTask::setCmdVel
void setCmdVel(double steerVel, double xVel)
Set the drive command to resend.
Definition MissionControlTasks.cpp:32
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net::mc::tasks::PowerRepeatTask::stop
void stop() override
Stop the task and wait for it to finish.
Definition MissionControlTasks.cpp:43
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net::mc::tasks::PowerRepeatTask::start
void start() override
Start the task.
Definition MissionControlTasks.cpp:37
+
net::mc::tasks::PowerRepeatTask::setJointPower
void setJointPower(robot::types::jointid_t id, double power)
Set the power to resend to the given joint.
Definition MissionControlTasks.cpp:28
+
net::mc::tasks::PowerRepeatTask::setCmdVel
void setCmdVel(double steerVel, double xVel)
Set the drive command to resend.
Definition MissionControlTasks.cpp:33
+
net::mc::tasks::PowerRepeatTask::stop
void stop() override
Stop the task and wait for it to finish.
Definition MissionControlTasks.cpp:44
+
net::mc::tasks::PowerRepeatTask::start
void start() override
Start the task.
Definition MissionControlTasks.cpp:38
net::mc::tasks::TelemReportTask
This task periodically sends robot telemetry data to Mission Control.
Definition MissionControlTasks.h:86
net::websocket::SingleClientWSServer
A WebSocket server class that only accepts a single client at a time to each endpoint served by this ...
Definition WebSocketServer.h:35
util::AsyncTask
An abstract class that can be overridden to run long-running tasks and encapsulate task-related data.
Definition scheduler.h:316
diff --git a/control__interface_8h_source.html b/control__interface_8h_source.html new file mode 100644 index 00000000..e025f906 --- /dev/null +++ b/control__interface_8h_source.html @@ -0,0 +1,133 @@ + + + + + + + +Resurgence (PY2022): src/control_interface.h Source File + + + + + + + + + + + + + + + +
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Resurgence (PY2022) +
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Codebase for the Husky Robotics 2021-2022 rover Resurgence
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control_interface.h
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1#pragma once
+
2
+
3#include "world_interface/data.h"
+
4
+
5// This is a layer that provides further abstraction on top of
+
6// the motor-level control provided by the world interface
+
7
+
8namespace robot {
+
9
+
18double setCmdVel(double dtheta, double dx);
+
19
+
26void setJointPower(types::jointid_t joint, double power);
+
27
+
34void setJointPos(types::jointid_t joint, int32_t targetPos);
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35
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41types::DataPoint<int32_t> getJointPos(types::jointid_t joint);
+
42
+
43} // namespace robot
+
int32_t
::int32_t int32_t
+
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
+
robot::getJointPos
types::DataPoint< int32_t > getJointPos(robot::types::jointid_t joint)
Definition control_interface.cpp:100
+
robot::setJointPos
void setJointPos(robot::types::jointid_t joint, int32_t targetPos)
Set the position of the specified joint.
Definition control_interface.cpp:70
+
robot::setCmdVel
double setCmdVel(double dtheta, double dx)
Request the robot to drive at the given velocities.
Definition control_interface.cpp:36
+
robot::setJointPower
void setJointPower(robot::types::jointid_t joint, double power)
Set the power of the specified joint.
Definition control_interface.cpp:58
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+ +
+Generated by doxygen 1.11.0 +
+
+ + diff --git a/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/dir_68267d1309a1af8e8297ef4c3efbcdba.html index c7c67047..3719169a 100644 --- a/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -137,6 +137,8 @@ Files  Constants.h   + control_interface.h +   Globals.h    navtypes.h diff --git a/doxygen_crawl.html b/doxygen_crawl.html index 50591626..7d2e9338 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -32,6 +32,7 @@ + @@ -782,6 +783,7 @@ + @@ -962,17 +964,18 @@ + - + + - @@ -989,6 +992,7 @@ + diff --git a/files.html b/files.html index 295ceb62..8776d42f 100644 --- a/files.html +++ b/files.html @@ -179,8 +179,9 @@  real_world_constants.h  world_interface.h  Constants.h - Globals.h - navtypes.h + control_interface.h + Globals.h + navtypes.h diff --git a/namespacemembers.html b/namespacemembers.html index dd43ab0f..65d4e4b7 100644 --- a/namespacemembers.html +++ b/namespacemembers.html @@ -175,6 +175,7 @@

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