Add acceleration to robotcommand for test with control

RoboTeamTwente · Jun 12, 2024 · c35db7f · c35db7f
1 parent e296b86
commit c35db7f
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Showing 2 changed files with 5 additions and 0 deletions.
diff --git a/roboteam_networking/proto/RobotCommands.proto b/roboteam_networking/proto/RobotCommands.proto
@@ -27,6 +27,8 @@ message RobotCommand {
 
     bool dribbler_on = 13; // If true, the robot will turn on its dribbler
     bool wheels_off = 14;    // If true, the robot will not move its wheels
+    double acceleration_x = 15;     // (m/s^2) Target x acceleration of the robot
+    double acceleration_y = 16;     // (m/s^2) Target y acceleration of the robot
 }
 
 message RobotCommands {

diff --git a/roboteam_networking/src/RobotCommandsNetworker.cpp b/roboteam_networking/src/RobotCommandsNetworker.cpp
@@ -53,6 +53,8 @@ proto::RobotCommands robotCommandsToProto(const rtt::RobotCommands& commands) {
 
         protoCommand->set_dribbler_on(command.dribblerOn);
         protoCommand->set_wheels_off(command.wheelsOff);
+        protoCommand->set_acceleration_x(command.acceleration.x);
+        protoCommand->set_acceleration_y(command.acceleration.y);
     }
 
     return protoCommands;
@@ -64,6 +66,7 @@ rtt::RobotCommands protoToRobotCommands(const proto::RobotCommands& protoCommand
     for (const auto& protoCommand : protoCommands.robot_commands()) {
         rtt::RobotCommand robotCommand = {.id = protoCommand.id(),
                                           .velocity = Vector2(protoCommand.velocity_x(), protoCommand.velocity_y()),
+                                          .acceleration = Vector2(protoCommand.acceleration_x(), protoCommand.acceleration_y()),
                                           .yaw = protoCommand.yaw(),
                                           .targetAngularVelocity = protoCommand.angular_velocity(),
                                           .useAngularVelocity = protoCommand.use_angular_velocity(),