OdometryBase Class Reference

#include <odometry_base.h>

Inheritance diagram for OdometryBase:

Public Member Functions
	OdometryBase (bool is_async)
pose_t	get_position (void)
virtual void	set_position (const pose_t &newpos=zero_pos)
virtual pose_t	update ()=0
void	end_async ()
double	get_speed ()
double	get_accel ()
double	get_angular_speed_deg ()
double	get_angular_accel_deg ()

Static Public Member Functions
static int	background_task (void *ptr)
static double	pos_diff (pose_t start_pos, pose_t end_pos)
static double	rot_diff (pose_t pos1, pose_t pos2)
static double	smallest_angle (double start_deg, double end_deg)

Public Attributes
bool	end_task = false
	end_task is true if we instruct the odometry thread to shut down

Static Public Attributes
static constexpr pose_t	zero_pos = {.x = 0.0L, .y = 0.0L, .rot = 90.0L}

Protected Attributes
vex::task *	handle
vex::mutex	mut
pose_t	current_pos
double	speed
double	accel
double	ang_speed_deg
double	ang_accel_deg

Detailed Description

OdometryBase

This base class contains all the shared code between different implementations of odometry. It handles the asynchronous management, position input/output and basic math functions, and holds positional types specific to field orientation.

All future odometry implementations should extend this file and redefine update() function.

Author

Ryan McGee

Date

Aug 11 2021

Constructor & Destructor Documentation

OdometryBase()

OdometryBase::OdometryBase

(

bool

is_async

)

Construct a new Odometry Base object

Parameters

is_async

True to run constantly in the background, false to call update() manually

Member Function Documentation

background_task()

int OdometryBase::background_task ( void * ptr )

static

Function that runs in the background task. This function pointer is passed to the vex::task constructor.

Parameters

ptr	Pointer to OdometryBase object

Returns

Required integer return code. Unused.

end_async()

void OdometryBase::end_async

(

)

End the background task. Cannot be restarted. If the user wants to end the thread but keep the data up to date, they must run the update() function manually from then on.

get_accel()

double OdometryBase::get_accel

(

)

Get the current acceleration

Returns

the acceleration rate of the robot (inch/s^2)

get_angular_accel_deg()

double OdometryBase::get_angular_accel_deg

(

)

Get the current angular acceleration in degrees

Returns

the angular acceleration at which we are turning (deg/s^2)

get_angular_speed_deg()

double OdometryBase::get_angular_speed_deg

(

)

Get the current angular speed in degrees

Returns

the angular velocity at which we are turning (deg/s)

get_position()

pose_t OdometryBase::get_position

(

void

)

Gets the current position and rotation

Returns

the position that the odometry believes the robot is at

Gets the current position and rotation

get_speed()

double OdometryBase::get_speed

(

)

Get the current speed

Returns

the speed at which the robot is moving and grooving (inch/s)

pos_diff()

double OdometryBase::pos_diff ( pose_t start_pos, pose_t end_pos )

static

Get the distance between two points

Parameters

start_pos	distance from this point
end_pos	to this point

Returns

the euclidean distance between start_pos and end_pos

rot_diff()

double OdometryBase::rot_diff ( pose_t pos1, pose_t pos2 )

static

Get the change in rotation between two points

Parameters

pos1	position with initial rotation
pos2	position with final rotation

Returns

change in rotation between pos1 and pos2

Get the change in rotation between two points

set_position()

void OdometryBase::set_position ( const pose_t & newpos = zero_pos )

virtual

Sets the current position of the robot

Parameters

newpos

the new position that the odometry will believe it is at

Sets the current position of the robot

Reimplemented in OdometryTank.

smallest_angle()

double OdometryBase::smallest_angle ( double start_deg, double end_deg )

static

Get the smallest difference in angle between a start heading and end heading. Returns the difference between -180 degrees and +180 degrees, representing the robot turning left or right, respectively.

Parameters

start_deg	intitial angle (degrees)
end_deg	final angle (degrees)

Returns

the smallest angle from the initial to the final angle. This takes into account the wrapping of rotations around 360 degrees

Get the smallest difference in angle between a start heading and end heading. Returns the difference between -180 degrees and +180 degrees, representing the robot turning left or right, respectively.

update()

virtual pose_t OdometryBase::update ( )

pure virtual

Update the current position on the field based on the sensors

Returns

the location that the robot is at after the odometry does its calculations

Implemented in Odometry3Wheel, and OdometryTank.

Member Data Documentation

accel

double OdometryBase::accel

protected

the rate at which we are accelerating (inch/s^2)

ang_accel_deg

double OdometryBase::ang_accel_deg

protected

the rate at which we are accelerating our turn (deg/s^2)

ang_speed_deg

double OdometryBase::ang_speed_deg

protected

the speed at which we are turning (deg/s)

current_pos

pose_t OdometryBase::current_pos

protected

Current position of the robot in terms of x,y,rotation

handle

vex::task* OdometryBase::handle

protected

handle to the vex task that is running the odometry code

mut

vex::mutex OdometryBase::mut

protected

Mutex to control multithreading

speed

double OdometryBase::speed

protected

the speed at which we are travelling (inch/s)

zero_pos

constexpr pose_t OdometryBase::zero_pos = {.x = 0.0L, .y = 0.0L, .rot = 90.0L}

inlinestaticconstexpr

Zeroed position. X=0, Y=0, Rotation= 90 degrees

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The documentation for this class was generated from the following files:

• odometry_base.h
• odometry_base.cpp