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Write Drivers for Rover Hardware Interfaces #141

Merged
merged 22 commits into from
Oct 20, 2023
Merged

Write Drivers for Rover Hardware Interfaces #141

merged 22 commits into from
Oct 20, 2023

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ClayJay3
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@ClayJay3 ClayJay3 commented Oct 20, 2023 •
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  • Write driver board for interfacing with rover boards through RoveComm
    • NavBoard
    • DriveBoard
    • MultimediaBoard
  • Added GeographicLib to project and wrote functions for easily storing, handling, and converting GPS and UTM coordinates.
  • Wrote very feature rich PID controller with wrap around capabilities.
  • Wrote Differential Drive algorithms for intelligent autonomous control of rover drive train.
    • TankDriveKinematics
    • ArcadeDriveKinematics
    • CurvatureDriveKinematics
    • Drive to heading function for easy and accurate navigation using a PID controller for steering.

REBUILD CONTAINERS

Closes #130

ClayJay3 added 20 commits October 6, 2023 02:00
@ClayJay3
Add geographiclib.
d3b3635
@ClayJay3
Merge remote-tracking branch 'origin/development' into topic/drivers
b18aab2
@ClayJay3
Add words to dictionary.
3eb7b6c
@ClayJay3
Add geographiclib to other Dockerfiles.
b522af4
@ClayJay3
Added GPS/UTM conversions.
53415a4
@ClayJay3
Added unit test for UTM/GPS conversion.
0efea4d
@ClayJay3
Fixed linking of GeoLib.
4e8a7c3
@ClayJay3
Fixed bugs within differential drive kinematics.
c0115eb
@ClayJay3
Wrote Unit test for diffdrive.
02f61e9
@ClayJay3
Drivers are close to done.
d0e0a71
@ClayJay3
Readded Clamp to numops.
7994e2e
@ClayJay3
Added CalculateGeoDistance function to geoops namespace.
7387732
@ClayJay3
Added test for CalculateGeoDistance
6b3eca0
@ClayJay3
Change earth radius.
5f961a6
@ClayJay3
Began writing a universal PID controller.
f339b88
@ClayJay3
Little more progress on the PID controller.
082d973
@ClayJay3
Wrote setters for PID controller.
b8269fb
@ClayJay3
Finished writing setters for PIDController and fixed compile error.
380ef22
@ClayJay3
Finished PID controller and drive board class.
37b8f07
@ClayJay3
Merge remote-tracking branch 'origin/development' into topic/drivers
2a0410e
@ClayJay3 ClayJay3 added enhancement Requests for new features or improvements to existing features. 3-Star Indicates a moderate level of difficulty, requiring a good understanding of the topic or task. testing Tasks related to creating or improving tests, including unit and integration tests. dev-environment Issues or enhancements related to setting up or maintaining the development environment. labels Oct 20, 2023
@ClayJay3 ClayJay3 added this to the URC 2024 - Sprint 1 milestone Oct 20, 2023
@ClayJay3 ClayJay3 self-assigned this Oct 20, 2023
@ClayJay3 ClayJay3 requested a review from a team as a code owner October 20, 2023 03:59
@ClayJay3 ClayJay3 added the docker Tasks or issues related to Docker containerization, including Dockerfile configuration and environme label Oct 20, 2023
Byrdman32
Byrdman32 requested changes Oct 20, 2023
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.devcontainer/devcontainer.json Outdated Show resolved Hide resolved
src/algorithms/controllers/PIDController.cpp Outdated Show resolved Hide resolved
@ClayJay3 ClayJay3 requested a review from Byrdman32 October 20, 2023 17:15
@ClayJay3 ClayJay3 closed this Oct 20, 2023
@ClayJay3 ClayJay3 deleted the topic/drivers branch October 20, 2023 19:21
@ClayJay3 ClayJay3 restored the topic/drivers branch October 20, 2023 19:27
@Byrdman32 Byrdman32 reopened this Oct 20, 2023
@ClayJay3 ClayJay3 merged commit 8c1b859 into development Oct 20, 2023
17 of 23 checks passed
@ClayJay3 ClayJay3 deleted the topic/drivers branch October 20, 2023 20:03
MRDT-Software pushed a commit that referenced this pull request May 14, 2024
@ClayJay3
Merge pull request #141 from MissouriMRDT/topic/drivers
48b5284 
 Write Drivers for Rover Hardware Interfaces
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@Byrdman32 Byrdman32 Byrdman32 approved these changes

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@ClayJay3 ClayJay3

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3-Star Indicates a moderate level of difficulty, requiring a good understanding of the topic or task. dev-environment Issues or enhancements related to setting up or maintaining the development environment. docker Tasks or issues related to Docker containerization, including Dockerfile configuration and environme enhancement Requests for new features or improvements to existing features. testing Tasks related to creating or improving tests, including unit and integration tests.
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URC 2024 - Sprint 1
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Write Drivers for Rover Hardware Interfaces
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@ClayJay3 @Byrdman32