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Add killswitch for sentry based on gamestate #146

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merged 8 commits into from
Nov 26, 2024
Merged

Add killswitch for sentry based on gamestate #146

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ad5cc3c
add sentry killswitch
tildezero Oct 4, 2024
33921f5
turns out i dont know c++
tildezero Oct 4, 2024
ce572c1
use formatter
tildezero Oct 4, 2024
e00b3e5
Remove TODO comment
calebchalmers Nov 6, 2024
bfce107
add 10 second stop
tildezero Nov 21, 2024
183fe78
fix thing?
tildezero Nov 25, 2024
a8d7889
Use MilliTimeout for sentry spin timer
calebchalmers Nov 26, 2024
73ca867
Merge branch 'develop' into suhas/sentry-kill-switch
calebchalmers Nov 26, 2024
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7 changes: 7 additions & 0 deletions ut-robomaster/src/drivers.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#pragma once

#include "tap/communication/serial/ref_serial_data.hpp"
#include "tap/drivers.hpp"

#include "communication/cv_board.hpp"
Expand All @@ -15,6 +16,12 @@ class Drivers : public tap::Drivers
communication::RttStream rtt;

bool isKillSwitched() { return !remote.isConnected(); }
bool isGameActive()
{
return this->refSerial.getGameData().gameStage ==
tap::communication::serial::RefSerialData::Rx::GameStage::IN_GAME;
}

}; // class Drivers

} // namespace src
51 changes: 12 additions & 39 deletions ut-robomaster/src/subsystems/chassis/command_sentry_position.cpp
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Previously, we had a timer which would wait until the match starts to begin moving. Could you keep the timer but start it once the game officially starts? I.e. once the match starts, the Sentry will wait maybe 10 seconds before it starts moving, to avoid excess drift on the field.

Original file line number Diff line number Diff line change
Expand Up @@ -3,54 +3,27 @@
namespace commands
{

void CommandSentryPosition::initialize() { startup_time = getTimeMilliseconds(); }
void CommandSentryPosition::initialize() { moveTimer.stop(); }

void CommandSentryPosition::execute()
{
Vector2f move = Vector2f(0.0f);
float spin = 0.0f;

// if (prevTime == 0.0f)
// {
// prev_time = getTimeMilliseconds();
// }

// if (getTimeMilliseconds() - prev_time > 5000.0f)
// {
// direction *= -1;
// prev_time = getTimeMilliseconds();
// }

// if (!isStarted)
// {
// isStarted = true;
// startTime = getTimeMilliseconds() / 1000.0f;
// }

// float time = getTimeMilliseconds() / 1000.0f - startTime;

// if (time < 2.0f)
// {
// float t = time / 2.0f;
// float fac = 4.0f * (1.0f - t) * t;
// move = Vector2f(0.0f, fac * 0.1f);
// }
// else if (time < 3.0f)
// {
// spin = 0.2f;
// }

spin = 1.0f;
// wait until game starts then wait some more to avoid excess drifting
if (drivers->isGameActive() && moveTimer.isStopped())
{
moveTimer.restart(10'000); // 10s
}

if (getTimeMilliseconds() - startup_time < 35000.0f)
if (!moveTimer.isExpired())
{
spin = 0.0f;
chassis->input(Vector2f(0.0f), 0.0f);
return;
}

chassis->input(move, spin);
// speen
chassis->input(Vector2f(0.0f), 1.0f);
}

void CommandSentryPosition::end(bool) { chassis->input(Vector2f(0.0f), 0.0f); }
bool CommandSentryPosition::isFinished() const { return false; }

} // namespace commands
} // namespace commands
14 changes: 5 additions & 9 deletions ut-robomaster/src/subsystems/chassis/command_sentry_position.hpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#ifndef COMMAND_SENTRY_POSITION_HPP_
#define COMMAND_SENTRY_POSITION_HPP_
#pragma once

#include "tap/architecture/timeout.hpp"
#include "tap/control/command.hpp"

#include "chassis_subsystem.hpp"
Expand All @@ -11,7 +11,7 @@ namespace commands
using namespace tap::communication::serial;
using namespace modm;
using subsystems::chassis::ChassisSubsystem;
using tap::arch::clock::getTimeMilliseconds;
using tap::arch::MilliTimeout;

class CommandSentryPosition : public tap::control::Command
{
Expand All @@ -36,10 +36,6 @@ class CommandSentryPosition : public tap::control::Command
private:
src::Drivers *drivers;
ChassisSubsystem *chassis;
// bool isStarted = false;
// float startTime = 0.0f;
float startup_time = 0.0f;
MilliTimeout moveTimer;
};
} // namespace commands

#endif
} // namespace commands