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Create AutonomousTask to handle autonomous navigation #223

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Create AutonomousTask to handle autonomous navigation #223

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huttongrabiel
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@huttongrabiel huttongrabiel commented Feb 28, 2023 •
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  • Use DriveToWaypointCommand functionality to execute an autonomous task.

  • Add necessary constants to Constants.h

  • Add handleWaypointNavRequest to handle waypointNavRequest packet from MissionControl, starts autonomous navigation

  • Start autonomous task from MissionControlProtocol.cpp

@huttongrabiel huttongrabiel force-pushed the autonomous-task branch 13 times, most recently from e32c323 to 1802910 Compare March 8, 2023 03:48
@huttongrabiel huttongrabiel marked this pull request as ready for review March 8, 2023 03:54
@huttongrabiel huttongrabiel requested a review from abhaybd March 8, 2023 03:54
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abhaybd requested changes Mar 10, 2023
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Pretty good! Some comments about sleeping, using a CV, etc.

src/CMakeLists.txt Outdated Show resolved Hide resolved
src/CMakeLists.txt Outdated Show resolved Hide resolved
src/Constants.h Outdated Show resolved Hide resolved
src/Rover.cpp Outdated Show resolved Hide resolved
src/autonomous/AutonomousTask.cpp Outdated Show resolved Hide resolved
src/autonomous/AutonomousTask.cpp Outdated Show resolved Hide resolved
src/autonomous/AutonomousTask.cpp Outdated Show resolved Hide resolved
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@huttongrabiel huttongrabiel force-pushed the autonomous-task branch 2 times, most recently from 1172ef2 to 1d16e76 Compare March 10, 2023 04:49
@huttongrabiel huttongrabiel requested a review from abhaybd March 10, 2023 04:54
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abhaybd requested changes Mar 10, 2023
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Pretty good, just some more minor fixes needed

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@huttongrabiel huttongrabiel requested a review from abhaybd March 10, 2023 05:36
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abhaybd reviewed Apr 1, 2023
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This looks good! Let's try to do some testing to ensure it works well before merging. Testing in sim would be fine, let's discuss how to do that on saturday.

@huttongrabiel huttongrabiel force-pushed the autonomous-task branch 3 times, most recently from 037fdfc to 1b3169d Compare October 28, 2023 19:02
@huttongrabiel huttongrabiel requested a review from abhaybd October 28, 2023 19:08
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abhaybd requested changes Jan 12, 2024
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Looks good, just some questions about the MC protocol

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@huttongrabiel huttongrabiel requested a review from abhaybd January 20, 2024 21:23
huttongrabiel and others added 8 commits March 30, 2024 20:06
@huttongrabiel
Create AutonomousTask to handle autonomous navigation
f3b0c9a 
Use DriveToWaypointCommand functionality to execute an autonomous task.

Add necessary constants to Constants.h

Start autonomous task from MissionControlProtocol.cpp
@huttongrabiel
fix autonomous: SQUASH ME
83e0d81
@huttongrabiel
pretty much working + squash me
8d5872d
@huttongrabiel
Add message validation back in
a8065b8
@huttongrabiel
Run clang-format
b3ebafa
@huttongrabiel
Use correct json message names
b246dcb
@huttongrabiel
MissionControl: Accept both floats and unsigned numbers in autonomous
3c1840d 
JavaScript truncates any value such as 0.0 or 1.0 to 0 and 1,
respectively. This fails validation because we looks for floats and
those come across as unsigned ints. To fix this, we check if the
incoming number is either a float or an unsigned number. Both are
accepted.
@abhaybd @huttongrabiel
Change rot order
68b4446
@huttongrabiel huttongrabiel mentioned this pull request May 4, 2024
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@abhaybd abhaybd Awaiting requested review from abhaybd

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@huttongrabiel @abhaybd