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[RSDK-1242] use imu to fix spin #1737

Merged
merged 35 commits into from
Jan 14, 2023
Merged

[RSDK-1242] use imu to fix spin #1737

merged 35 commits into from
Jan 14, 2023

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randhid
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@randhid randhid commented Jan 5, 2023 •
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Adds a movement sensor field to the base config, which can be an array of movement sensors. Has to be Orientation supported.
Uses streamed orientation yaw angles to stop the wheels from turning when a desired orientation has been reached.
Spin is non-blocking for base.Stop().

Draft state as I work through some tasks:

  • Fix Spin calculations to have right turns (clockwise looking at base) associated with a negative number.
    - [x] Test on hardware.
  • Add Jira tickets I hit to this PR.
  • [x] Take into account 0-360 imu and -180 to 180 IMU yaw domains in math.
    - [ ] Test on hardware.
    - [ ] Write software tests. punted to RSDK-1698
  • Clean up logs plus comments.
  • Fine-tune polling on wit for error reduction.
    - [x] Test on hardware.
  • Properly handle for loop break after terminating condition is met.
    - [x] Test on hardware.
  • Change back edited structs.
  • Tidy wheeled base creator

@randhid
Add movement sensor to base
4b6d3eb
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
eea954b 
…e-dev
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
afd68d4 
…e-dev
@randhid
Start
9bdc90b
@randhid
Start
d2d652a
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
257fc42 
…e-dev
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
4d74a04 
…e-dev
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
af9fb64 
…e-dev
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
c8510d5 
…e-dev
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
c5f7514 
…e-dev
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
771a2b2 
…e-dev
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
cc222e0 
…e-dev
@randhid
Merge branch 'main' of ssh://github.com/viamrobotics/rdk into imu-bas…
fadb470 
…e-dev
@randhid
Polls movement sensor, stops base when angle condition is met, stops …
db9acd6 
…base when stop is called
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 5, 2023
@randhid randhid force-pushed the RSDK-1242-use-imu-to-fix-spin branch from 1a60eab to 160ba8f Compare January 5, 2023 18:14
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 5, 2023
@randhid randhid force-pushed the RSDK-1242-use-imu-to-fix-spin branch from 160ba8f to bb52152 Compare January 10, 2023 16:11
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 10, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 10, 2023
@viambot viambot removed the safe to test This pull request is marked safe to test from a trusted zone label Jan 10, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 14, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 14, 2023
@randhid randhid force-pushed the RSDK-1242-use-imu-to-fix-spin branch from 3a24d95 to 6f7fe3b Compare January 14, 2023 01:10
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 14, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 14, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 14, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 14, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 14, 2023
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 56% 0.00% ➖
go.viam.com/rdk/components/arm/universalrobots 41% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 2% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 7% 0.00% ❌
go.viam.com/rdk/components/audioinput 55% 0.00% ➖
go.viam.com/rdk/components/base 63% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 65% -11.50% ➖
go.viam.com/rdk/components/board 66% 0.00% ➖
go.viam.com/rdk/components/board/arduino 10% 0.00% ❌
go.viam.com/rdk/components/board/commonsysfs 47% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 64% 0.00% ➖
go.viam.com/rdk/components/camera/align 63% 0.00% ➖
go.viam.com/rdk/components/camera/fake 67% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 77% +1.43% ✅
go.viam.com/rdk/components/camera/transformpipeline 78% -1.29% ✅
go.viam.com/rdk/components/camera/videosource 44% -0.76% ❌
go.viam.com/rdk/components/encoder 4% 0.00% ❌
go.viam.com/rdk/components/encoder/fake 76% 0.00% ✅
go.viam.com/rdk/components/gantry 60% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 83% 0.00% ✅
go.viam.com/rdk/components/gripper 68% 0.00% ➖
go.viam.com/rdk/components/input 87% 0.00% ✅
go.viam.com/rdk/components/input/gpio 84% 0.00% ✅
go.viam.com/rdk/components/motor 77% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 57% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 64% 0.00% ➖
go.viam.com/rdk/components/motor/gpiostepper 57% +0.59% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/movementsensor 75% 0.00% ✅
go.viam.com/rdk/components/movementsensor/cameramono 46% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 36% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 28% 0.00% ❌
go.viam.com/rdk/components/posetracker 86% 0.00% ✅
go.viam.com/rdk/components/sensor 86% 0.00% ✅
go.viam.com/rdk/components/sensor/ultrasonic 25% 0.00% ❌
go.viam.com/rdk/components/servo 68% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 76% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 79% 0.00% ✅
go.viam.com/rdk/examples/customresources/demos/complexmodule 0% 0.00% ❌
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00% ❌
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/module 63% 0.00% ➖
go.viam.com/rdk/module/modmanager 79% 0.00% ✅
go.viam.com/rdk/motionplan 59% +0.10% ➖
go.viam.com/rdk/octree 98% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 72% 0.00% ✅
go.viam.com/rdk/protoutils 59% 0.00% ➖
go.viam.com/rdk/referenceframe 71% 0.00% ✅
go.viam.com/rdk/registry 89% 0.00% ✅
go.viam.com/rdk/resource 84% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 73% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 85% 0.00% ✅
go.viam.com/rdk/robot/client 81% 0.00% ✅
go.viam.com/rdk/robot/framesystem 65% 0.00% ➖
go.viam.com/rdk/robot/impl 80% 0.00% ✅
go.viam.com/rdk/robot/server 55% -0.59% ➖
go.viam.com/rdk/robot/web 61% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol/builtin 52% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 79% 0.00% ✅
go.viam.com/rdk/services/datamanager 79% 0.00% ✅
go.viam.com/rdk/services/datamanager/builtin 78% -0.91% ✅
go.viam.com/rdk/services/datamanager/datacapture 70% 0.00% ✅
go.viam.com/rdk/services/datamanager/datasync 0% 0.00% ❌
go.viam.com/rdk/services/motion 63% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 53% 0.00% ➖
go.viam.com/rdk/services/sensors 77% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 14% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 70% 0.00% ✅
go.viam.com/rdk/services/vision 80% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 86% 0.00% ✅
go.viam.com/rdk/subtype 92% 0.00% ✅
go.viam.com/rdk/utils 72% +0.18% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 25% 0.00% ❌
Summary 65% (20953 / 32455) -0.07% ➖

@randhid randhid merged commit 24d6f39 into viamrobotics:main Jan 14, 2023
@randhid randhid deleted the RSDK-1242-use-imu-to-fix-spin branch January 19, 2023 06:54
stevebriskin added a commit to stevebriskin/rdk that referenced this pull request Jan 26, 2023
@stevebriskin
Revert "[RSDK-1242] use imu to fix spin (viamrobotics#1737)"
a2504d7 
This reverts commit 24d6f39.
stevebriskin added a commit that referenced this pull request Jan 26, 2023
@stevebriskin
Revert "[RSDK-1242] use imu to fix spin (#1737)" (#1807)
df4ec17
randhid added a commit to randhid/rdk that referenced this pull request Jan 31, 2023
@randhid
Revert "Revert "[RSDK-1242] use imu to fix spin (viamrobotics#1737)" (v…
0d5d219 
…iamrobotics#1807)"

This reverts commit df4ec17.
randhid added a commit to randhid/rdk that referenced this pull request Jan 31, 2023
@randhid
Revert "Revert "[RSDK-1242] use imu to fix spin (viamrobotics#1737)" (v…
00da57b 
…iamrobotics#1807)"

This reverts commit df4ec17.

change base creator function location

refactor

refactor

refactor

refactor

refactor

refactor

refactor

refactor
@bazile-clyde bazile-clyde mentioned this pull request Feb 7, 2023
Closed
randhid pushed a commit to randhid/rdk that referenced this pull request Feb 25, 2023
@stevebriskin @randhid
Revert "[RSDK-1242] use imu to fix spin (viamrobotics#1737)" (viamrob…
bc77922 
…otics#1807)
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@gvaradarajan gvaradarajan gvaradarajan approved these changes

@npmenard npmenard npmenard approved these changes

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@randhid @npmenard @gvaradarajan @viambot