0.5.1

OkapiLib · Dec 10, 2017 · a3edbc2 · a3edbc2
1 parent 1f294f5
commit a3edbc2
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Showing 7 changed files with 16 additions and 16 deletions.
diff --git a/okapilib-template/firmware/okapilib.a b/okapilib-template/firmware/okapilib.a
diff --git a/okapilib-template/include/chassis/chassisModel.h b/okapilib-template/include/chassis/chassisModel.h
@@ -109,7 +109,7 @@ namespace okapi {
     virtual ~SkidSteerModel() { delete &motors; }
 
     void driveForward(const int power) override {
-      for (size_t i = 0; i <= motorsPerSide * 2; i++)
+      for (size_t i = 0; i < motorsPerSide * 2; i++)
         motors[i].setTS(power);
     }
 
@@ -128,7 +128,7 @@ namespace okapi {
     }
 
     void stop() override {
-      for (size_t i = 0; i <= motorsPerSide * 2; i++)
+      for (size_t i = 0; i < motorsPerSide * 2; i++)
         motors[i].set(0);
     }
 

diff --git a/okapilib-template/include/chassis/odomChassisController.h b/okapilib-template/include/chassis/odomChassisController.h
@@ -39,7 +39,7 @@ namespace okapi {
      */
     OdomState getState() { return odom.getState(); }
   protected:
-    static constexpr int moveThreshold = 100; //Minimum length movement
+    static constexpr int moveThreshold = 10; //Minimum length movement
     Odometry odom;
   };
 

diff --git a/okapilib-template/include/odometry/odomMath.h b/okapilib-template/include/odometry/odomMath.h
@@ -1,6 +1,7 @@
 #ifndef OKAPI_ODOMMATH
 #define OKAPI_ODOMMATH
 
+#include <tuple>
 #include "odometry/odometry.h"
 
 namespace okapi {
@@ -47,6 +48,14 @@ namespace okapi {
      * @return        Distance and angle to the point
      */
     static DistanceAndAngle computeDistanceAndAngleToPoint(const float ix, const float iy, const OdomState& istate);
+
+    /**
+     * Attempt to guess scales based on robot dimensions
+     * @param chassisDiam Center-to-center wheelbase diameter in inches
+     * @param wheelDiam   Edge-to-edge wheel diameter in inches
+     * @param ticksPerRev Quad ticks per revolution (default is 360)
+     */
+    static std::tuple<float, float> guessScales(const float chassisDiam, const float wheelDiam, const float ticksPerRev = 360.0);
   private:
     OdomMath() {}
   };

diff --git a/okapilib-template/include/odometry/odometry.h b/okapilib-template/include/odometry/odometry.h
@@ -73,18 +73,9 @@ namespace okapi {
     }
 
     /**
-     * Attempt to guess scales based on robot dimensions
-     * @param chassisDiam Center-to-center wheelbase diameter in inches
-     * @param wheelDiam   Edge-to-edge wheel diameter in inches
-     * @param ticksPerRev Quad ticks per revolution (default is 360)
+     * Do odom math in an infinite loop
      */
-    void guessScales(const float chassisDiam, const float wheelDiam, const float ticksPerRev = 360.0);
-
-    /**
-     * Do one iteration of odometry math and return the new state estimate
-     * @return               New state estimate
-     */
-    OdomState loop();
+    void loop();
 
     static void trampoline(void *context) { static_cast<Odometry*>(context)->loop(); }
 

diff --git a/okapilib-template/template.pros b/okapilib-template/template.pros
@@ -1 +1 @@
-{"py/object": "prosconductor.providers.TemplateConfig", "py/state": {"depot": null, "name": "okapilib", "remove_paths": [], "template_ignore": ["template.pros"], "upgrade_paths": ["firmware/okapilib.a", "include/main.h", "include/device/motor.h", "include/device/button.h", "include/device/ime.h", "include/device/potentiometer.h", "include/device/quadEncoder.h", "include/device/rangeFinder.h", "include/device/rotarySensor.h", "include/chassis/chassisModel.h", "include/chassis/odomChassisController.h", "include/chassis/chassisController.h", "include/API.h", "include/util/timer.h", "include/util/mathUtil.h", "include/odometry/odomMath.h", "include/odometry/odometry.h", "include/filter/filter.h", "include/filter/emaFilter.h", "include/filter/avgFilter.h", "include/filter/demaFilter.h", "include/control/pid.h", "include/control/genericController.h", "include/control/velMath.h", "include/control/nsPid.h", "include/control/velPid.h", "include/control/controlObject.h"], "version": "0.5.0"}}
+{"py/object": "prosconductor.providers.TemplateConfig", "py/state": {"depot": null, "name": "okapilib", "remove_paths": [], "template_ignore": ["template.pros"], "upgrade_paths": ["firmware/okapilib.a", "include/main.h", "include/device/motor.h", "include/device/button.h", "include/device/ime.h", "include/device/potentiometer.h", "include/device/quadEncoder.h", "include/device/rangeFinder.h", "include/device/rotarySensor.h", "include/chassis/chassisModel.h", "include/chassis/odomChassisController.h", "include/chassis/chassisController.h", "include/API.h", "include/util/timer.h", "include/util/mathUtil.h", "include/odometry/odomMath.h", "include/odometry/odometry.h", "include/filter/filter.h", "include/filter/emaFilter.h", "include/filter/avgFilter.h", "include/filter/demaFilter.h", "include/control/pid.h", "include/control/genericController.h", "include/control/velMath.h", "include/control/nsPid.h", "include/control/velPid.h", "include/control/controlObject.h"], "version": "0.5.1"}}
diff --git a/template.mk b/template.mk
@@ -1,5 +1,5 @@
 LIBNAME=okapilib
-VERSION=0.5.0
+VERSION=0.5.1
 
 # extra files (like header files)
 TEMPLATEFILES = include/main.h include/device/motor.h include/device/button.h include/device/ime.h include/device/potentiometer.h include/device/quadEncoder.h include/device/rangeFinder.h include/device/rotarySensor.h include/chassis/chassisModel.h include/chassis/odomChassisController.h include/chassis/chassisController.h include/API.h include/util/timer.h include/util/mathUtil.h include/odometry/odomMath.h include/odometry/odometry.h include/filter/filter.h include/filter/emaFilter.h include/filter/avgFilter.h include/filter/demaFilter.h include/control/pid.h include/control/genericController.h include/control/velMath.h include/control/nsPid.h include/control/velPid.h include/control/controlObject.h