Swerve final #13
Swerve final #13
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from https://github.com/ishanm0/ReadIncrementalEncoderPio Co-Authored-By: Ishan Madan <[email protected]>
…i code is currently on the pi)
Co-authored-by: brendanRose1 <[email protected]> Co-authored-by: ananya-manduva <[email protected]>
… fast (only in the negative direction though) Co-authored-by: inkyant <[email protected]>
Co-authored-by: Anthony Furman <[email protected]>
Converted Pi control of motors in python (motor test) to Pico control of motors in c (cooler motor test)
Co-authored-by: brendanRose1 <[email protected]> Co-authored-by: ananya-manduva <[email protected]>
Co-authored-by: inkyant <[email protected]>
Co-authored-by: AriSinervo <[email protected]>
-new finalized branch for swerve module -consolidates code into one folder -try to make code match software map -rewrite i2c-controller into separate classes -remove old files & branches
unfinished 4 am code, hopefully a step forward?
small tweaks to software structure, added small TODO notes changes made with meeting with Ishan on ~5/16/24
moved everything into a new top-level folder to keep consistent with rest of repo
added basic-swerve dev folders
Added message library that encodes/decodes messages in specified format for modbot in c & python
Added processing for specific message ids in compute_module_id.py and swerve-module-id.h Added decoding of payload of 24 bytes -> 6 floats, changes state of robot to read converted floats
moved old swerve-decoder folder into _OLD
Added top level code that might get the swerve drive working (with enough editing to everything else...)
restructured order of PID loop, libraries, etc (add readme of changes)
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| #include "pid.cpp" | |||
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you should never include .c or .cpp files, instead, you use header files. in this case, you'd want to put the class definition with just the function signatures (ex. void Setup();) in a file called control-library.h, then in the corresponding cpp file, you define each function like this:
SwerveDrive::Setup() {
//code
}
and so on, not organized/indented into a class structure. If you want an example, look at this .h file paired with this .cpp file
swerve_pico/control-library/pid.cpp
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| #include <stdio.h> | ||
| #include <stdlib.h> | ||
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| #include "motor-library.cpp" |
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same .h/.cpp comments from control-library.cpp
swerve_pico/main.c
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| #include <stdio.h> | |||
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| #include "motor-library.cpp" | |||
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same .h/.cpp comments from motor-library.cpp for all of these
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also, since all of your libraries are cpp code, your main file needs to be cpp as well, not c
| * | ||
| * @return calculated checksum | ||
| */ | ||
| char MessagingBSDChecksum(char* payloadString, unsigned char payloadLen) { |
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ok so everything above this line is fine, but actual code in the function definition (everything between the curly braces) should be in the cpp file
| STATE_ZERO_MOTORS | ||
| }; | ||
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| float resultArray[resultArraySize] = {0}; |
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iirc you can't do stuff like this (assigning variables) in a header file but I could be wrong
| * @returns success/failure to process payload, next state of main state machine | ||
| */ | ||
| char MessagingProcessPayload(char* payload, unsigned char id, unsigned char len){ | ||
| switch(id){ |
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same thing as messaging-library.h - the function code should be defined in a cpp file, not an h file
| #define COUNT_MAX 65535 | ||
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| // class to instantiate swerve module | ||
| class PWMControl { |
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same cpp/h organization comments as control-library.cpp
| /** | ||
| * Motor class that holds PWMControl and quadrature_encoder class, encapsulates functions to set and read values of 1 motor | ||
| */ | ||
| class Motor{ |
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same cpp/h organization comments as control-library.cpp
| const float PULLEY_RATIO = 0.3185 / 1.528; | ||
| const float DEG_PER_ROT = 360.0; | ||
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| class Encoder |
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same cpp/h organization comments
| #include <pico/i2c_slave.h> | ||
| #include <pico/stdlib.h> | ||
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| class ZeroingSensor{ |
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same cpp/h organization comments
(I'm gonna use this to make comments)