Sentry.cpp File Reference

#include "base_robot/BaseRobot.h"
#include "util/algorithms/general_functions.h"
#include "ResetReason.h"
#include "subsystems/ChassisSubsystem.h"
#include "subsystems/ShooterSubsystem.h"
#include "subsystems/TurretSubsystem.h"
#include "util/communications/CANHandler.h"
#include "util/communications/PwmIn.h"
#include "util/communications/jetson/Jetson.h"
#include "util/motor/DJIMotor.h"
#include "util/peripherals/imu/BNO055.h"
#include "util/peripherals/encoder/MA4.h"
#include "util/peripherals/imu/ISM330.h"
#include <algorithm>
#include <pinmap.h>
#include <us_ticker_api.h>
#include <us_ticker_defines.h>

Classes
class	Sentry

Functions
int	main ()

Variables
constexpr auto	IMU_I2C_SDA = PB_7
constexpr auto	IMU_I2C_SCL = PB_8
constexpr auto	IMU_RESET = PA_8
constexpr float	PITCH_LOWER_BOUND {-22.0}
constexpr float	PITCH_UPPER_BOUND {20.0}
constexpr float	JOYSTICK_YAW_SENSITIVITY_DPS = 300
constexpr float	JOYSTICK_PITCH_SENSITIVITY_DPS = 150
constexpr float	MOUSE_SENSITIVITY_YAW_DPS = 1.0
constexpr float	MOUSE_SENSITIVITY_PITCH_DPS = 1.0
constexpr PID::config	YAW_VEL_PID = {181, 3.655 * 10e-3, 4.51 * 7.5, 32000, 1000}
constexpr PID::config	YAW_POS_PID = {1, 0, 0, 45, 2}
const float	yaw_static_friction = -150
const float	yaw_kinetic_friction = 0
constexpr PID::config	PITCH_VEL_PID = {173.8994, 4.898 * 10e-6, 12.474 * 10e3, 16000, 2000}
constexpr PID::config	PITCH_POS_PID = {1, 0, 0,30,2}
const float	pitch_gravity_feedforward = -1200
const float	pitch_static_friction = 0
const float	pitch_kinetic_friction = 0
constexpr PID::config	FL_VEL_CONFIG = {2.58, 0.23 * 1e-3, 17.3 * 1e-3}
constexpr PID::config	FR_VEL_CONFIG = {2.75, 0.574 * 1e-3, 17.9 * 1e-3}
constexpr PID::config	BL_VEL_CONFIG = {4.1, 0.0523 * 1e-3, 10.9 * 1e-3}
constexpr PID::config	BR_VEL_CONFIG = {3.9, 0.159 * 1e-3, 26.1 * 1e-3}
constexpr PID::config	FLYWHEEL_L_PID = {7.1849, 0.000042634, 0}
constexpr PID::config	FLYWHEEL_R_PID = {7.1849, 0.000042634, 0}
constexpr PID::config	INDEXER_PID_VEL = {2.7, 0.001, 0}
constexpr PID::config	INDEXER_PID_POS = {0.1, 0, 0.001}
TurretSubsystem::config	turret_config
ShooterSubsystem::config	shooter_config
ChassisSpeeds	des_chassis_state
TurretSubsystem::TurretInfo	des_turret_state
ShootState	des_shoot_state
int	remoteTimer = 0
float	pitch_desired_angle = 0.0
float	yaw_desired_angle = 0.0
float	dt_global = 0.0
unsigned long	timer = 0
IMU::EulerAngles	imuAngles

Function Documentation

main()

int main

(

)

Variable Documentation

BL_VEL_CONFIG

constexpr PID::config BL_VEL_CONFIG = {4.1, 0.0523 * 1e-3, 10.9 * 1e-3}

constexpr

BR_VEL_CONFIG

constexpr PID::config BR_VEL_CONFIG = {3.9, 0.159 * 1e-3, 26.1 * 1e-3}

constexpr

des_chassis_state

ChassisSpeeds des_chassis_state

des_shoot_state

ShootState des_shoot_state

des_turret_state

TurretSubsystem::TurretInfo des_turret_state

dt_global

float dt_global = 0.0

FL_VEL_CONFIG

constexpr PID::config FL_VEL_CONFIG = {2.58, 0.23 * 1e-3, 17.3 * 1e-3}

constexpr

FLYWHEEL_L_PID

constexpr PID::config FLYWHEEL_L_PID = {7.1849, 0.000042634, 0}

constexpr

FLYWHEEL_R_PID

constexpr PID::config FLYWHEEL_R_PID = {7.1849, 0.000042634, 0}

constexpr

FR_VEL_CONFIG

constexpr PID::config FR_VEL_CONFIG = {2.75, 0.574 * 1e-3, 17.9 * 1e-3}

constexpr

IMU_I2C_SCL

constexpr auto IMU_I2C_SCL = PB_8

constexpr

IMU_I2C_SDA

constexpr auto IMU_I2C_SDA = PB_7

constexpr

IMU_RESET

constexpr auto IMU_RESET = PA_8

constexpr

imuAngles

IMU::EulerAngles imuAngles

INDEXER_PID_POS

constexpr PID::config INDEXER_PID_POS = {0.1, 0, 0.001}

constexpr

INDEXER_PID_VEL

constexpr PID::config INDEXER_PID_VEL = {2.7, 0.001, 0}

constexpr

JOYSTICK_PITCH_SENSITIVITY_DPS

constexpr float JOYSTICK_PITCH_SENSITIVITY_DPS = 150

constexpr

JOYSTICK_YAW_SENSITIVITY_DPS

constexpr float JOYSTICK_YAW_SENSITIVITY_DPS = 300

constexpr

MOUSE_SENSITIVITY_PITCH_DPS

constexpr float MOUSE_SENSITIVITY_PITCH_DPS = 1.0

constexpr

MOUSE_SENSITIVITY_YAW_DPS

constexpr float MOUSE_SENSITIVITY_YAW_DPS = 1.0

constexpr

pitch_desired_angle

float pitch_desired_angle = 0.0

pitch_gravity_feedforward

const float pitch_gravity_feedforward = -1200

pitch_kinetic_friction

const float pitch_kinetic_friction = 0

PITCH_LOWER_BOUND

constexpr float PITCH_LOWER_BOUND {-22.0}

constexpr

PITCH_POS_PID

constexpr PID::config PITCH_POS_PID = {1, 0, 0,30,2}

constexpr

pitch_static_friction

const float pitch_static_friction = 0

PITCH_UPPER_BOUND

constexpr float PITCH_UPPER_BOUND {20.0}

constexpr

PITCH_VEL_PID

constexpr PID::config PITCH_VEL_PID = {173.8994, 4.898 * 10e-6, 12.474 * 10e3, 16000, 2000}

constexpr

remoteTimer

int remoteTimer = 0

shooter_config

ShooterSubsystem::config shooter_config

Initial value:

= {
    ShooterSubsystem::BURST,
    0,
    2,
    4,
    6,
    FLYWHEEL_L_PID,
    FLYWHEEL_R_PID,
    INDEXER_PID_VEL,
    INDEXER_PID_POS,
    CANHandler::CANBUS_2,
    true
}

timer

unsigned long timer = 0

turret_config

TurretSubsystem::config turret_config

Initial value:

= {
    7,
    M3508,
    8,
    M3508,
    YAW_VEL_PID,
    YAW_POS_PID,
    PITCH_VEL_PID,
    PITCH_POS_PID,
    yaw_static_friction,
    yaw_kinetic_friction,
    pitch_gravity_feedforward,
    pitch_static_friction,
    pitch_kinetic_friction,
    CANHandler::CANBUS_1,
    CANHandler::CANBUS_2,
    1,
    (1.0 / 3.0),
    PITCH_LOWER_BOUND,
    PITCH_UPPER_BOUND
}

yaw_desired_angle

float yaw_desired_angle = 0.0

yaw_kinetic_friction

const float yaw_kinetic_friction = 0

YAW_POS_PID

constexpr PID::config YAW_POS_PID = {1, 0, 0, 45, 2}

constexpr

yaw_static_friction

const float yaw_static_friction = -150

YAW_VEL_PID

constexpr PID::config YAW_VEL_PID = {181, 3.655 * 10e-3, 4.51 * 7.5, 32000, 1000}

constexpr