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nycratnycrat
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Refactor robot constants into cpp file (#3811)
1 parent 0e4d417 commit 276f281

3 files changed

Lines changed: 102 additions & 94 deletions

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‎src/shared/BUILD‎

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Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@ cc_library(
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cc_library(
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name = "robot_constants",
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srcs = [],
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hdrs = [":robot_constants.h"],
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srcs = ["robot_constants.cpp"],
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hdrs = ["robot_constants.h"],
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deps = [":constants"],
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)

‎src/shared/robot_constants.cpp‎

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#include "shared/robot_constants.h"
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#include "shared/constants.h"
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namespace robot_constants
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{
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#if CHECK_VERSION(2026)
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RobotConstants createRobotConstants()
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{
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return {
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.robot_radius_m = static_cast<float>(ROBOT_MAX_RADIUS_METERS),
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.front_wheel_angle_deg = 32.0f,
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.back_wheel_angle_deg = 44.0f,
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.fr_x_pos_meters = 0.03485f,
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.fr_y_pos_meters = -0.06632f,
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.fl_x_pos_meters = 0.03485f,
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.fl_y_pos_meters = 0.06632f,
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.bl_x_pos_meters = -0.04985f,
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.bl_y_pos_meters = 0.05592f,
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.br_x_pos_meters = -0.04985f,
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.br_y_pos_meters = -0.05592f,
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.front_of_robot_width_meters = 0.11f,
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.dribbler_width_meters = 0.07825f,
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// Dribbler speeds are negative as that is the direction that sucks the ball in
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.indefinite_dribbler_speed_rpm = -10000,
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.max_force_dribbler_speed_rpm = -12000,
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// Motor constant
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.motor_max_acceleration_m_per_s_2 = 2.0f,
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// Robot's linear movement constants
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.robot_max_speed_m_per_s = 3.0f,
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.robot_trajectory_max_speed_m_per_s = 2.5f,
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.robot_max_acceleration_m_per_s_2 = 4.5f,
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.robot_max_deceleration_m_per_s_2 = 3.0f,
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.robot_trajectory_max_acceleration_m_per_s_2 = 3.0f,
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.robot_trajectory_max_deceleration_m_per_s_2 = 2.0f,
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// Robot's angular movement constants
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.robot_max_ang_speed_rad_per_s = 10.0f,
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.robot_trajectory_max_ang_speed_rad_per_s = 7.0f,
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.robot_max_ang_acceleration_rad_per_s_2 = 30.0f,
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.wheel_radius_meters = 0.03f,
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.expected_lever_arm = 0.0749f,
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// Kalman filter variances for robot localizer
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.kalman_process_noise_variance_rad_per_s_4 = 1.0f,
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.kalman_vision_noise_variance_rad_2 = 0.01f * 0.01f,
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.kalman_motor_sensor_noise_variance_rad_per_s_2 = 0.5f};
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}
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#elif CHECK_VERSION(2021)
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RobotConstants createRobotConstants()
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{
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return {
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.robot_radius_m = static_cast<float>(ROBOT_MAX_RADIUS_METERS),
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.front_wheel_angle_deg = 32.06f,
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.back_wheel_angle_deg = 46.04f,
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.front_of_robot_width_meters = 0.11f,
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.dribbler_width_meters = 0.07825f,
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// Dribbler speeds are negative as that is the direction that sucks the ball in
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.indefinite_dribbler_speed_rpm = -10000,
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.max_force_dribbler_speed_rpm = -12000,
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// Motor constant
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.motor_max_acceleration_m_per_s_2 = 4.5f,
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// Robot's linear movement constants
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.robot_max_speed_m_per_s = 3.000f,
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.robot_trajectory_max_speed_m_per_s = 3.000f,
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.robot_max_acceleration_m_per_s_2 = 3.0f,
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.robot_max_deceleration_m_per_s_2 = 3.0f,
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.robot_trajectory_max_acceleration_m_per_s_2 = 3.0f,
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.robot_trajectory_max_deceleration_m_per_s_2 = 3.0f,
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// Robot's angular movement constants
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.robot_max_ang_speed_rad_per_s = 10.0f,
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.robot_trajectory_max_ang_speed_rad_per_s = 7.0f,
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.robot_max_ang_acceleration_rad_per_s_2 = 30.0f,
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.wheel_radius_meters = 0.03f,
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// Kalman filter variances for robot localizer
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.kalman_process_noise_variance_rad_per_s_4 = 0.5f,
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.kalman_vision_noise_variance_rad_2 = 0.01f * 0.01f,
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.kalman_motor_sensor_noise_variance_rad_per_s_2 = 0.5f * 0.5f};
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}
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#endif
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} // namespace robot_constants

‎src/shared/robot_constants.h‎

Lines changed: 1 addition & 92 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,5 @@
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#pragma once
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3-
#include "shared/constants.h"
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namespace robot_constants
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{
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@@ -140,95 +138,6 @@ struct RobotConstants
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*
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* @return robot constants for the robot
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*/
143-
#if CHECK_VERSION(2026)
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constexpr RobotConstants createRobotConstants()
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{
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return {
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.robot_radius_m = static_cast<float>(ROBOT_MAX_RADIUS_METERS),
148-
.front_wheel_angle_deg = 32.0f,
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.back_wheel_angle_deg = 44.0f,
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.fr_x_pos_meters = 0.03485f,
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.fr_y_pos_meters = -0.06632f,
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.fl_x_pos_meters = 0.03485f,
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.fl_y_pos_meters = 0.06632f,
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.bl_x_pos_meters = -0.04985f,
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.bl_y_pos_meters = 0.05592f,
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.br_x_pos_meters = -0.04985f,
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.br_y_pos_meters = -0.05592f,
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.front_of_robot_width_meters = 0.11f,
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.dribbler_width_meters = 0.07825f,
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// Dribbler speeds are negative as that is the direction that sucks the ball in
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.indefinite_dribbler_speed_rpm = -10000,
165-
.max_force_dribbler_speed_rpm = -12000,
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// Motor constant
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.motor_max_acceleration_m_per_s_2 = 2.0f,
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// Robot's linear movement constants
171-
.robot_max_speed_m_per_s = 3.0f,
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.robot_trajectory_max_speed_m_per_s = 2.5f,
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.robot_max_acceleration_m_per_s_2 = 4.5f,
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.robot_max_deceleration_m_per_s_2 = 3.0f,
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.robot_trajectory_max_acceleration_m_per_s_2 = 3.0f,
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.robot_trajectory_max_deceleration_m_per_s_2 = 2.0f,
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// Robot's angular movement constants
181-
.robot_max_ang_speed_rad_per_s = 10.0f,
182-
.robot_trajectory_max_ang_speed_rad_per_s = 7.0f,
183-
.robot_max_ang_acceleration_rad_per_s_2 = 30.0f,
184-
185-
.wheel_radius_meters = 0.03f,
186-
187-
.expected_lever_arm = 0.0749f,
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189-
// Kalman filter variances for robot localizer
190-
.kalman_process_noise_variance_rad_per_s_4 = 1.0f,
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.kalman_vision_noise_variance_rad_2 = 0.01f * 0.01f,
192-
.kalman_motor_sensor_noise_variance_rad_per_s_2 = 0.5f};
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}
194-
#elif CHECK_VERSION(2021)
195-
constexpr RobotConstants createRobotConstants()
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{
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return {
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.robot_radius_m = static_cast<float>(ROBOT_MAX_RADIUS_METERS),
199-
.front_wheel_angle_deg = 32.06f,
200-
.back_wheel_angle_deg = 46.04f,
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202-
.front_of_robot_width_meters = 0.11f,
203-
.dribbler_width_meters = 0.07825f,
204-
205-
// Dribbler speeds are negative as that is the direction that sucks the ball in
206-
.indefinite_dribbler_speed_rpm = -10000,
207-
.max_force_dribbler_speed_rpm = -12000,
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209-
// Motor constant
210-
.motor_max_acceleration_m_per_s_2 = 4.5f,
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// Robot's linear movement constants
213-
.robot_max_speed_m_per_s = 3.000f,
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.robot_trajectory_max_speed_m_per_s = 3.000f,
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.robot_max_acceleration_m_per_s_2 = 3.0f,
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.robot_max_deceleration_m_per_s_2 = 3.0f,
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.robot_trajectory_max_acceleration_m_per_s_2 = 3.0f,
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.robot_trajectory_max_deceleration_m_per_s_2 = 3.0f,
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220-
// Robot's angular movement constants
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.robot_max_ang_speed_rad_per_s = 10.0f,
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.robot_trajectory_max_ang_speed_rad_per_s = 7.0f,
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.robot_max_ang_acceleration_rad_per_s_2 = 30.0f,
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.wheel_radius_meters = 0.03f,
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// Kalman filter variances for robot localizer
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.kalman_process_noise_variance_rad_per_s_4 = 0.5f,
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.kalman_vision_noise_variance_rad_2 = 0.01f * 0.01f,
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.kalman_motor_sensor_noise_variance_rad_per_s_2 = 0.5f * 0.5f};
231-
}
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#endif
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RobotConstants createRobotConstants();
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} // namespace robot_constants

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