Merge pull request #1 from NoozAbooz/rewrite

Rewrite

README.md

@@ -4,20 +4,20 @@
 <br />
 <div align="center">
   <a href="https://github.com/2088S">
-    <img src="https://raw.githubusercontent.com/NoozAbooz/2088S-HighStakes-2025/V1/logo.png" alt="Logo" width="200">
+    <img src="https://raw.githubusercontent.com/NoozAbooz/210K-HighStakes-2025/V1/logo.png" alt="Logo" width="200">
   </a>
 
 <h1 align="center">High Stakes</h1>
 
   <p align="center">
-    VRC Team 2088S - "Straitis"
+    VRC 210K Killswitch
     <br/>
     3rd year HS VRC team based in Calgary, Alberta
     <br/>
-    Part of the Western Mechatronics Robotics Club
+    Western Mechatronics Robotics Club
     <br/>
     <br/>
-    <a href="https://www.robotevents.com/teams/VRC/2088S">RobotEvents</a>
+    <a href="https://www.robotevents.com/teams/VRC/210K">RobotEvents</a>
   </p>
 </div>
 

firmware/asset.mk → firmware/hot-cold-asset.mk

@@ -1,10 +1,19 @@
+# if "template" is in the make command, do not include static.lib files
+ifneq (,$(findstring template,$(MAKECMDGOALS)))
 ASSET_FILES=$(wildcard static/*)
+else
+ASSET_FILES=$(wildcard static/*) $(wildcard static.lib/*)
+endif
+
+TEMPLATE_FILES+=$(wildcard static/*) $(wildcard firmware/hot-cold-asset.mk)
+
 ASSET_OBJ=$(addprefix $(BINDIR)/, $(addsuffix .o, $(ASSET_FILES)) )
 
 GETALLOBJ=$(sort $(call ASMOBJ,$1) $(call COBJ,$1) $(call CXXOBJ,$1)) $(ASSET_OBJ)
 
 .SECONDEXPANSION:
 $(ASSET_OBJ): $$(patsubst bin/%,%,$$(basename $$@))
 	$(VV)mkdir -p $(BINDIR)/static
+	$(VV)mkdir -p $(BINDIR)/static.lib
 	@echo "ASSET $@"
 	$(VV)$(OBJCOPY) -I binary -O elf32-littlearm -B arm $^ $@

include/abstractGlobals.hpp

@@ -10,17 +10,11 @@ extern rd_view_t *gifview;
 extern Gif gif;
 
 /* Functions */
-// Slapper
-void refreshSlapper();
-
-// Lift
-void refreshLift();
-
 // DT
 void arcadeDrive();
 
 // Intake
 void refreshIntake();
 
 // Wings
-void refreshWings();
+void refreshClamp();

include/deviceGlobals.hpp

@@ -2,32 +2,67 @@
 #include "main.h"
 
 // Controller
-extern pros::Controller controller;
+inline pros::Controller controller(pros::E_CONTROLLER_MASTER);
 
 // Drivetrain
-extern pros::MotorGroup leftDrive;
-extern pros::MotorGroup rightDrive;
-
-extern lemlib::Chassis chassis;
+inline pros::MotorGroup leftDrive({-1, -2, -3});
+inline pros::MotorGroup rightDrive({16, 17, 18});
 
 // Intake
-extern pros::Motor intake;
-
-// Catapult
-extern pros::Motor slapper;
-
-// Inertial
-extern pros::Imu inertial;
-extern pros::Imu inertial2;
+inline pros::Motor intake(10);
 
-extern pros::Rotation verticalEncoder;
-extern pros::Rotation horizontalEncoder;
+// Pneumatics
+inline pros::adi::DigitalOut clampPiston('D');
+inline pros::adi::DigitalOut ptoPiston('X');
 
-extern pros::adi::Potentiometer potentiometer;
+/* Declare sensors */
+inline pros::Imu inertial1(2);
+inline pros::Imu inertial2(3);
 
-extern pros::adi::DigitalOut leftWingPiston;
-extern pros::adi::DigitalOut rightWingPiston;
+inline pros::Rotation verticalEncoder(15);
+inline pros::Rotation horizontalEncoder(16);
+// horizontal tracking wheel
+inline lemlib::TrackingWheel vertical_tracking_wheel(&verticalEncoder, lemlib::Omniwheel::NEW_275, -5.75);
+// vertical tracking wheel
+inline lemlib::TrackingWheel horizontal_tracking_wheel(&horizontalEncoder, lemlib::Omniwheel::NEW_275, -2.5);
 
-extern pros::adi::DigitalOut liftPiston;
-extern pros::adi::DigitalOut tailPiston;
-extern pros::adi::DigitalOut ptoPiston;
+// drivetrain settings
+inline lemlib::Drivetrain drivetrain(&leftDrive, // left motor group
+                              &rightDrive, // right motor group
+                              10.5, // 25 hole track width
+                              lemlib::Omniwheel::NEW_325,
+                              450, // drivetrain rpm
+                              2 // chase power is 2. If we had traction wheels, it would have been 8
+);
+// lateral motion controller
+inline lemlib::ControllerSettings linearController(21, // proportional gain (kP)
+                                            0, // integral gain (kI)
+                                            24, // derivative gain (kD)
+                                            3, // anti windup
+                                            1, // small error range, in inches
+                                            100, // small error range timeout, in milliseconds
+                                            3, // large error range, in inches
+                                            500, // large error range timeout, in milliseconds
+                                            20 // maximum acceleration (slew)
+);
+// angular motion controller
+inline lemlib::ControllerSettings angularController(5, // proportional gain (kP)
+                                             0, // integral gain (kI)
+                                             50, // derivative gain (kD)
+                                             3, // anti windup
+                                             1, // small error range, in degrees
+                                             100, // small error range timeout, in milliseconds
+                                             3, // large error range, in degrees
+                                             500, // large error range timeout, in milliseconds
+                                             0 // maximum acceleration (slew)
+);
+// sensors for odometry
+// note that in this example we use internal motor encoders, so we don't pass vertical tracking wheels
+inline lemlib::OdomSensors sensors(nullptr, // vertical tracking wheel 1, set to nullptr as we don't have one
+                            nullptr, // vertical tracking wheel 2, set to nullptr as we don't have one
+                            nullptr, // horizontal tracking wheel 1
+                            nullptr, // horizontal tracking wheel 2, set to nullptr as we don't have a second one
+                            &inertial1 // inertial sensor
+);
+// create the chassis
+inline lemlib::Chassis chassis(drivetrain, linearController, angularController, sensors);

include/lemlib/api.hpp

@@ -1,11 +1,11 @@
 #pragma once
 
-#include "lemlib/pid.hpp"
-#include "lemlib/pose.hpp"
-#include "lemlib/util.hpp"
+#include "lemlib/pid.hpp" // IWYU pragma: keep
+#include "lemlib/pose.hpp" // IWYU pragma: keep
+#include "lemlib/util.hpp" // IWYU pragma: keep
 #include "lemlib/chassis/chassis.hpp"
-#include "lemlib/chassis/trackingWheel.hpp"
-#include "lemlib/logger/logger.hpp"
+#include "lemlib/chassis/trackingWheel.hpp" // IWYU pragma: keep
+#include "lemlib/logger/logger.hpp" // IWYU pragma: keep
 
 // using to shorten lemlib::AngularDirection to just AngularDirection
 using lemlib::AngularDirection;

include/lemlib/asset.hpp

@@ -1,7 +1,9 @@
 #pragma once
 
-#include <stdint.h>
 #include <cstddef>
+#include <cstdint>
+#ifndef _ASSET_H_
+#define _ASSET_H_
 
 extern "C" {
 
@@ -16,3 +18,11 @@ typedef struct __attribute__((__packed__)) _asset {
     extern uint8_t _binary_static_##x##_start[], _binary_static_##x##_size[];                                          \
     static asset x = {_binary_static_##x##_start, (size_t)_binary_static_##x##_size};                                  \
     }
+
+#define ASSET_LIB(x)                                                                                                   \
+    extern "C" {                                                                                                       \
+    extern uint8_t _binary_static_lib_##x##_start[], _binary_static_lib_##x##_size[];                                  \
+    static asset x = {_binary_static_lib_##x##_start, (size_t)_binary_static_lib_##x##_size};                          \
+    }
+
+#endif // _ASSET_H_

include/libSTRAITIS/drivetrain/PID.hpp → include/libKS/drivetrain/PID.hpp

@@ -1,7 +1,7 @@
 #pragma once
 #include "main.h"
 
-namespace strait {
+namespace ks {
 	class LateralPID {
 		public:
 			LateralPID();
@@ -14,5 +14,5 @@ namespace strait {
 			void move_lateral_pid(double target, double maxSpeed, double minSpeed);	
 
 	};
-	extern strait::LateralPID pid;
+	extern ks::LateralPID pid;
 }

include/libKS/drivetrain/chassis.hpp

@@ -0,0 +1,7 @@
+#pragma once
+#include "main.h"
+
+namespace ks {
+    double driveCurve(double input, double curve);
+    void arcadeDrive(int linCurve, int rotCurve, double turnScale);
+}

include/libSTRAITIS/drivetrain/odom.hpp → include/libKS/drivetrain/odom.hpp

@@ -1,6 +1,6 @@
 #include "main.h"
 
-namespace strait
+namespace ks
 {
 	class Position{
         public:
@@ -10,6 +10,4 @@ namespace strait
     };
 
     extern Position odom_pos;
-
-    void odomViewInit();
 }

include/libKS/killswitch.hpp

@@ -0,0 +1,13 @@
+#pragma once
+#include "main.h"
+
+#include <math.h>
+#include <cmath>
+#include <vector>
+
+#include "libKS/drivetrain/chassis.hpp"
+#include "libKS/drivetrain/movement.hpp"
+#include "libKS/drivetrain/odom.hpp"
+#include "libKS/drivetrain/PID.hpp"
+
+#include "libKS/utilities.hpp"

include/libKS/utilities.hpp

@@ -0,0 +1,16 @@
+#pragma once
+#include "main.h"
+#include <deque>
+
+namespace ks
+{
+    double vector_average(const std::vector<double>& v);
+    double median_filter(std::deque<double>& buffer, double newVal, int windowSize);
+    float to_milivolt(float input);
+    bool isDriverControl();
+
+    double to_rad(double angle_deg);
+    double to_deg(double angle_rad);
+
+    void calibrateIMU(pros::Imu inertial1, pros::Imu inertial2);
+}

include/main.h

@@ -76,7 +76,8 @@ void opcontrol(void);
 #include "deviceGlobals.hpp"
 
 // libSTRAIT
-#include "libSTRAITIS/strait.hpp"
+#include "libKS/killswitch.hpp"
+
 //#include <iostream>
 #endif