merge dev/quarterback into dev/experimental

platformio.ini

@@ -16,53 +16,54 @@ board = nodemcu-32s
 board_build.mcu = esp32
 upload_protocol = esptool
 lib_deps = 
- fastled/FastLED@^3.5.0
- https://github.com/PolarRobotics/PR-Lib.git
+ fastled/FastLED @ ~3.6.0
+ https://github.com/PolarRobotics/PR-Lib.git
+ adafruit/Adafruit LIS3MDL@^1.2.4
 
 [env:robot]
-build_src_filter =
- +<*>
- -<Pairing/depairingStation.cpp>
- -<Pairing/getAddress.cpp>
- -<Robot/Quarterback_old.cpp>
- -<Utilities/ReadBotInfo.cpp>
- -<Utilities/WriteBotInfo.cpp>
+build_src_filter = 
+ +<*>
+ -<Pairing/depairingStation.cpp>
+ -<Pairing/getAddress.cpp>
+ -<Robot/Quarterback_old.cpp>
+ -<Utilities/ReadBotInfo.cpp>
+ -<Utilities/WriteBotInfo.cpp>
 
 [env:depairing]
 build_src_filter = 
- -<*>
- +<PolarRobotics.h>
- +<Pairing/depairingStation.cpp>
- +<Pairing/pairing.h>
- +<Pairing/pairing.cpp>
- +<Robot/builtInLED.h>
- +<Robot/builtInLED.cpp>
- +<Robot/Lights.h>
- +<Robot/Lights.cpp>
+ -<*>
+ +<PolarRobotics.h>
+ +<Pairing/depairingStation.cpp>
+ +<Pairing/pairing.h>
+ +<Pairing/pairing.cpp>
+ +<Robot/builtInLED.h>
+ +<Robot/builtInLED.cpp>
+ +<Robot/Lights.h>
+ +<Robot/Lights.cpp>
 
 [env:write_bot_info]
 build_flags = -D CFG_WRITABLE=1
-build_src_filter =
- -<*>
- +<PolarRobotics.h>
- +<Utilities/WriteBotInfo.cpp>
- +<Utilities/BotTypes.h>
- +<Utilities/BotTypes.cpp>
- +<Utilities/MotorTypes.h>
- +<Utilities/MotorTypes.cpp>
- +<Utilities/Pair.h>
- +<Utilities/ConfigManager.h>
- +<Utilities/ConfigManager.cpp>
+build_src_filter = 
+ -<*>
+ +<PolarRobotics.h>
+ +<Utilities/WriteBotInfo.cpp>
+ +<Utilities/BotTypes.h>
+ +<Utilities/BotTypes.cpp>
+ +<Utilities/MotorTypes.h>
+ +<Utilities/MotorTypes.cpp>
+ +<Utilities/Pair.h>
+ +<Utilities/ConfigManager.h>
+ +<Utilities/ConfigManager.cpp>
 
 [env:read_bot_info]
-build_src_filter =
- -<*>
- +<PolarRobotics.h>
- +<Utilities/ReadBotInfo.cpp>
- +<Utilities/BotTypes.h>
- +<Utilities/BotTypes.cpp>
- +<Utilities/MotorTypes.h>
- +<Utilities/MotorTypes.cpp>
- +<Utilities/Pair.h>
- +<Utilities/ConfigManager.h>
- +<Utilities/ConfigManager.cpp>
+build_src_filter = 
+ -<*>
+ +<PolarRobotics.h>
+ +<Utilities/ReadBotInfo.cpp>
+ +<Utilities/BotTypes.h>
+ +<Utilities/BotTypes.cpp>
+ +<Utilities/MotorTypes.h>
+ +<Utilities/MotorTypes.cpp>
+ +<Utilities/Pair.h>
+ +<Utilities/ConfigManager.h>
+ +<Utilities/ConfigManager.cpp>

src/Drive/Drive.cpp

@@ -48,7 +48,7 @@ Drive::Drive(BotType botType, MotorType motorType, drive_param_t driveParams, bo
  this->R_Min = driveParams.r_min;
  this->R_Max = driveParams.r_max;
 
- if (botType == quarterback) {
+ if (botType == quarterback_old) {
  this->BIG_BOOST_PCT = 0.8; 
  this->BIG_NORMAL_PCT = 0.4; 
  this->BIG_SLOW_PCT = 0.3;
@@ -440,5 +440,17 @@ void Drive::update() {
 
  M1.write(requestedMotorPower[0]);
  M2.write(requestedMotorPower[1]);
+
+ trackingMotorPower[0] = requestedMotorPower[0];
+ trackingMotorPower[1] = requestedMotorPower[1];
+}
+
+int Drive::getMotorWifiValue(int motorRequested) {
+ int valueToReturn = 0;
+ if (motorRequested >= 0 && motorRequested < NUM_MOTORS) {
+ float value = trackingMotorPower[motorRequested] * 100;
+ valueToReturn = value;
+ }
+ return valueToReturn;
 }
 

src/Drive/Drive.h

@@ -99,6 +99,7 @@ class Drive {
  float turnPower;
 
  float requestedMotorPower[NUM_MOTORS];
+ float trackingMotorPower[NUM_MOTORS];
  float lastRampPower[NUM_MOTORS];
  float turnMotorValues[NUM_MOTORS];
 
@@ -128,6 +129,7 @@ class Drive {
  void printSetup();
  virtual void printDebugInfo();
  virtual void printCsvInfo();
+ int getMotorWifiValue(int motorRequested);
 
  //* The following variables are initialized in the constructor
  // maximum speed for these is 1.0

src/PolarRobotics.h

@@ -13,7 +13,7 @@
 #include <Utilities/MotorTypes.h>
 #include <Utilities/DriveParameters.h>
 
-#define PR_CODEBASE_VERSION "2.3.2 @ production"
+#define PR_CODEBASE_VERSION "2.4.0 @ dev/quarterback"
 
 // [PIN DECLARATIONS]
 // please follow: 
@@ -36,8 +36,8 @@
 // Encoder pin definitions
 #define ENC1_CHA 35
 #define ENC1_CHB 34
-#define ENC2_CHA VP
-#define ENC2_CHB VN
+#define ENC2_CHA 36 // VP
+#define ENC2_CHB 39 // VN
 
 // pin for ws2812 LEDs to indicate positions 
 #define LED_PIN 4 

src/Robot/Quarterback.cpp

@@ -189,4 +189,5 @@ void Quarterback::changeFWSpeed(SpeedStatus speed) {
 
  lastDBFWChange = millis();
  }
-}
+}
+

src/Robot/QuarterbackBase.cpp

@@ -0,0 +1,29 @@
+#include "QuarterbackBase.h"
+
+//This for some reason has to be declared in the .cpp file and not the .h file so that it does not conflict with the same declaration in other .h files
+HardwareSerial Uart_Base(2); // UART2
+
+QuarterbackBase::QuarterbackBase(Drive* drive) {
+ this->drive = drive;
+
+ // Setup digital WiFi pin
+ pinMode(WIFI_PIN, OUTPUT);
+
+ //Setup UART Pins
+ Uart_Base.begin(115200, SERIAL_8N1, RX2, TX2);
+}
+
+void QuarterbackBase::action() {
+// Send data to wifi ESP
+ updateWriteMotorValues();
+}
+
+void QuarterbackBase::updateWriteMotorValues() {
+ motor1Value = drive->getMotorWifiValue(0);
+ motor2Value = drive->getMotorWifiValue(1);
+ UARTMessage = String(motor1Value) + "&" + String(motor2Value);
+ UARTMessage = UARTMessage + "~";
+ Uart_Base.print(UARTMessage);
+ //Serial.print("Sent Message To ESP: ");
+ Serial.println(UARTMessage);
+}

src/Robot/QuarterbackBase.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#ifndef QUARTERBACK_BASE_H
+#define QUARTERBACK_BASE_H
+
+#include <Robot/Robot.h>
+#include <Robot/MotorControl.h>
+#include <Drive/Drive.h>
+
+// Wifi Connectivity Pin
+#define WIFI_PIN 18
+
+//UART Pins
+#define RX2 16
+#define TX2 17
+
+#include <HardwareSerial.h>
+
+
+/**
+ * @brief Quarterback Base Subclass Header
+ * @authors Max Phillips, George Rak, Corbin Hibler
+ */
+class QuarterbackBase : public Robot {
+ private: 
+
+ Drive* drive;
+
+ /* VARIABLES FOR WIFI CONNECTIVITY
+ - motor1Value motor2Value: The current drive motor values
+ - UARTMessage: The string version of the message to send from the base of the QB to it's server ESP also mounted on the base
+ */
+ int motor1Value = 0;
+ int motor2Value = 0;
+ String UARTMessage = "";
+
+ public:
+ QuarterbackBase (Drive* drive);
+ void action() override; //! robot subclass must override action
+ void updateWriteMotorValues();
+ void bottomQBSetup();
+};
+
+#endif // QUARTERBACK_H