Sentry.cpp File Reference

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

Classes
class	Sentry

Functions
double	degreesToRadians (double degrees)
int	main ()

Variables
constexpr auto	IMU_I2C_SDA = PB_7
constexpr auto	IMU_I2C_SCL = PB_8
constexpr auto	IMU_RESET = PA_8
constexpr int	pitch_zero_offset_ticks = 1500
constexpr float	PITCH_LOWER_BOUND {-32.0}
constexpr float	PITCH_UPPER_BOUND {35.0}
constexpr float	JOYSTICK_YAW_SENSITIVITY_DPS = 600
constexpr float	JOYSTICK_PITCH_SENSITIVITY_DPS = 300
PID::config	yaw_vel_PID = {350, 0.5, 2.5, 32000, 2000}
PID::config	yaw_pos_PID = {0.5, 0, 0, 90, 2}
PID::config	pitch_vel_PID = {500, 0.8, 0, 32000, 2000}
PID::config	pitch_pos_PID = {1.5, 0.0005, 0.05, 30, 2}
PID::config	fl_vel_config = {3, 0, 0}
PID::config	fr_vel_config = {3, 0, 0}
PID::config	bl_vel_config = {3, 0, 0}
PID::config	br_vel_config = {3, 0, 0}
PID::config	flywheelL_PID = {7.1849, 0.000042634, 0}
PID::config	flywheelR_PID = {7.1849, 0.000042634, 0}
PID::config	indexer_PID_vel = {2.7, 0.001, 0}
PID::config	indexer_PID_pos = {0.1, 0, 0.001}
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
DigitalOut	led0 = PC_1

Function Documentation

degreesToRadians()

double degreesToRadians

(

double

degrees

)

main()

int main

(

)

Variable Documentation

bl_vel_config

PID::config bl_vel_config = {3, 0, 0}

br_vel_config

PID::config br_vel_config = {3, 0, 0}

des_chassis_state

ChassisSpeeds des_chassis_state

des_shoot_state

ShootState des_shoot_state

des_turret_state

TurretSubsystem::TurretInfo des_turret_state

fl_vel_config

PID::config fl_vel_config = {3, 0, 0}

flywheelL_PID

PID::config flywheelL_PID = {7.1849, 0.000042634, 0}

flywheelR_PID

PID::config flywheelR_PID = {7.1849, 0.000042634, 0}

fr_vel_config

PID::config fr_vel_config = {3, 0, 0}

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

indexer_PID_pos

PID::config indexer_PID_pos = {0.1, 0, 0.001}

indexer_PID_vel

PID::config indexer_PID_vel = {2.7, 0.001, 0}

JOYSTICK_PITCH_SENSITIVITY_DPS

constexpr float JOYSTICK_PITCH_SENSITIVITY_DPS = 300

constexpr

JOYSTICK_YAW_SENSITIVITY_DPS

constexpr float JOYSTICK_YAW_SENSITIVITY_DPS = 600

constexpr

led0

DigitalOut led0 = PC_1

pitch_desired_angle

float pitch_desired_angle = 0.0

PITCH_LOWER_BOUND

constexpr float PITCH_LOWER_BOUND {-32.0}

constexpr

pitch_pos_PID

PID::config pitch_pos_PID = {1.5, 0.0005, 0.05, 30, 2}

PITCH_UPPER_BOUND

constexpr float PITCH_UPPER_BOUND {35.0}

constexpr

pitch_vel_PID

PID::config pitch_vel_PID = {500, 0.8, 0, 32000, 2000}

pitch_zero_offset_ticks

constexpr int pitch_zero_offset_ticks = 1500

constexpr

remoteTimer

int remoteTimer = 0

yaw_desired_angle

float yaw_desired_angle = 0.0

yaw_pos_PID

PID::config yaw_pos_PID = {0.5, 0, 0, 90, 2}

yaw_vel_PID

PID::config yaw_vel_PID = {350, 0.5, 2.5, 32000, 2000}