OdometrySerial Class Reference

#include <odometry_serial.h>

Inheritance diagram for OdometrySerial:

Public Member Functions
	OdometrySerial (bool is_async, bool calc_vel_acc_on_brain, Pose2d initial_pose, Pose2d sensor_offset, int32_t port, int32_t baudrate)
void	send_config (const Pose2d &initial_pose, const Pose2d &sensor_offset, const bool &calc_vel_acc_on_brain)
Pose2d	update () override
void	set_position (const Pose2d &new_pose) override
int	receive_cobs_packet (uint32_t port, uint8_t *buffer, size_t buffer_size)
Pose2d	get_position (void) override
Pose2d	get_pose2d (void)
size_t	cobs_decode (const uint8_t *buffer, size_t length, void *data)
size_t	cobs_encode (const void *data, size_t length, uint8_t *buffer)
Public Member Functions inherited from OdometryBase
	OdometryBase (bool is_async)
void	end_async ()
double	get_angular_speed_deg ()
double	get_angular_accel_deg ()

Additional Inherited Members
Static Public Member Functions inherited from OdometryBase
static int	background_task (void *ptr)
static double	smallest_angle (double start_deg, double end_deg)
Public Attributes inherited from OdometryBase
bool	end_task = false
	end_task is true if we instruct the odometry thread to shut down
vex::task *	handle
vex::mutex	mut
Pose2d	current_pos
double	speed
double	accel
double	ang_speed_deg
double	ang_accel_deg

Detailed Description

OdometrySerial

This class handles the code for an odometry setup where calculations are done on an external coprocessor. Data is sent to the brain via smart port, using a generic serial (UART) connection.

This is a "set and forget" class, meaning once the object is created, the robot will immediately begin tracking it's movement in the background.

https://rit.enterprise.slack.com/files/U04112Y5RB6/F080M01KPA5/predictperpindiculars2.pdf 2024-2025 Notebook: Entries/Software Entries/Localization/N-Pod Odometry

Author

Jack Cammarata

Date

Jan 16 2025

Constructor & Destructor Documentation

OdometrySerial()

OdometrySerial::OdometrySerial	(	bool	is_async,
		bool	calc_vel_acc_on_brain,
		Pose2d	initial_pose,
		Pose2d	sensor_offset,
		int32_t	port,
		int32_t	baudrate )

Construct a new Odometry Serial Object

OdometrySerial

This class handles the code for an odometry setup where calculations are done on an external coprocessor. Data is sent to the brain via smart port, using a generic serial (UART) connection.

This is a "set and forget" class, meaning once the object is created, the robot will immediately begin tracking it's movement in the background.

https://rit.enterprise.slack.com/files/U04112Y5RB6/F080M01KPA5/predictperpindiculars2.pdf 2024-2025 Notebook: Entries/Software Entries/Localization/N-Pod Odometry

Author

Jack Cammarata

Date

Jan 16 2025 Construct a new Odometry Serial Object

Member Function Documentation

cobs_decode()

size_t OdometrySerial::cobs_decode	(	const uint8_t *	buffer,
		size_t	length,
		void *	data )

COBS decode data from buffer

Parameters

buffer	Pointer to encoded input bytes
length	Number of bytes to decode
data	Pointer to decoded output data

Returns

Number of bytes successfully decoded

Note

Stops decoding if delimiter byte is found

cobs_encode()

size_t OdometrySerial::cobs_encode	(	const void *	data,
		size_t	length,
		uint8_t *	buffer )

COBS encode data to buffer

Parameters

data	Pointer to input data to encode
length	Number of bytes to encode
buffer	Pointer to encoded output buffer

Returns

Encoded buffer length in bytes

Note

Does not output delimiter byte

get_pose2d()

Pose2d OdometrySerial::get_pose2d

(

void

)

Gets the current position and rotation

Returns

the position that the odometry believes the robot is at

get_position()

Pose2d OdometrySerial::get_position ( void )

overridevirtual

Gets the current position and rotation

Returns

the position that the odometry believes the robot is at

Reimplemented from OdometryBase.

receive_cobs_packet()

int OdometrySerial::receive_cobs_packet	(	uint32_t	port,
		uint8_t *	buffer,
		size_t	buffer_size )

Attempts to recieve an entire packet encoded with COBS, stops at delimiter or there's a buffer overflow

Parameters

port	the port number the serial is plugged into, counts from 0 instead of 1
buffer	pointer to a uint8_t[] where we put the data
buffer_size	length in bytes of the buffer

Returns

0 success

send_config()

void OdometrySerial::send_config	(	const Pose2d &	initial_pose,
		const Pose2d &	sensor_offset,
		const bool &	calc_vel_acc_on_brain )

Send

set_position()

void OdometrySerial::set_position ( const Pose2d & new_pose )

overridevirtual

Resets the position and rotational data to the input.

Resets the position and rotational data to the input.

Parameters

new_pose

the pose to set the odometry to

Reimplemented from OdometryBase.

update()

Pose2d OdometrySerial::update ( )

overridevirtual

Update the current position of the robot once by reading a single packet from the serial port

Returns

the robot's updated position

Update the current position of the robot once by reading a single packet from the serial port, then updating all over values, velocity, accel

Returns

the robot's updated position

Implements OdometryBase.

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

• odometry_serial.h
• odometry_serial.cpp