spectator_task.SpectatorTask Class Reference

Public Member Functions
	__init__ (self, run_observer, game_origin_mode, left_pos_sh, right_pos_sh, total_s_sh, abs_x_sh, abs_y_sh, abs_theta_sh, x0_mm=0.0, y0_mm=0.0, theta0_rad=0.0)
	set_initial_pose (self, x_mm, y_mm, theta_rad=0.0)
	Set the initial pose of the robot in the world/game coordinate frame.
	run (self)

Public Attributes
	left_pos_sh = left_pos_sh
	right_pos_sh = right_pos_sh
	total_s_sh = total_s_sh
	abs_x_sh = abs_x_sh
	abs_y_sh = abs_y_sh
	abs_theta_sh = abs_theta_sh
float	x0_mm = float(x0_mm)
float	y0_mm = float(y0_mm)
float	theta0_rad = float(theta0_rad)
	x_mm = self.x0_mm
	y_mm = self.y0_mm
	theta_rad = self.theta0_rad
	run_observer = run_observer
	game_origin_mode = game_origin_mode
int	state = self.S0_INIT
	0: INIT STATE -----------------------------------------------—
	start_left_counts = left_counts
	start_right_counts = right_counts
	prev_left_counts = left_counts
	prev_right_counts = right_counts

Static Public Attributes
int	GEAR_RATIO = 3952/33
int	CPR_MOTOR = 12
int	CPR_WHEEL = GEAR_RATIO*CPR_MOTOR
int	RAD_PER_COUNT = 2 * math.pi / CPR_WHEEL
int	WHEEL_RADIUS_MM = 35
int	WHEEL_BASE_MM = 141
int	S0_INIT = 0
int	S1_WAITING = 1
int	S2_ESTIMATING = 2

Protected Member Functions
	_reset_odometry (self)
	At the start of a run, reset the accumulated pose and previous encoder counts.

Detailed Description

Estimates the absolute position of the robot using encoder data.

Attributes:
    run_observer: Share to start/stop the observer.
    game_origin_mode: Share to select world frame or game origin mode.
    left_pos_sh: Share for left wheel encoder position.
    right_pos_sh: Share for right wheel encoder position.
    total_s_sh: Share for total distance traveled along center line.
    abs_x_sh: Share for absolute x position.
    abs_y_sh: Share for absolute y position.
    abs_theta_sh: Share for absolute heading.

Constructor & Destructor Documentation

__init__()

spectator_task.SpectatorTask.__init__	(		self,
			run_observer,
			game_origin_mode,
			left_pos_sh,
			right_pos_sh,
			total_s_sh,
			abs_x_sh,
			abs_y_sh,
			abs_theta_sh,
			x0_mm = 0.0,
			y0_mm = 0.0,
			theta0_rad = 0.0 )

Initialize the object's attributes

Member Function Documentation

_reset_odometry()

spectator_task.SpectatorTask._reset_odometry ( self )

protected

At the start of a run, reset the accumulated pose and previous encoder counts.

run()

spectator_task.SpectatorTask.run

(

self

)

FINITE STATE MACHINE

set_initial_pose()

spectator_task.SpectatorTask.set_initial_pose	(		self,
			x_mm,
			y_mm,
			theta_rad = 0.0 )

Set the initial pose of the robot in the world/game coordinate frame.

HELPER FUNCTIONS

This pose will be used the next time the observer is started. For example, if the track origin is at (0, 0) and Romi's starting position is (300 mm, 150 mm) with heading pi/2 rad, you would call:

spectator.set_initial_pose(300.0, 150.0, math.pi/2)

before run_observer is asserted.

Member Data Documentation

abs_theta_sh

spectator_task.SpectatorTask.abs_theta_sh = abs_theta_sh

abs_x_sh

spectator_task.SpectatorTask.abs_x_sh = abs_x_sh

abs_y_sh

spectator_task.SpectatorTask.abs_y_sh = abs_y_sh

CPR_MOTOR

int spectator_task.SpectatorTask.CPR_MOTOR = 12

static

CPR_WHEEL

int spectator_task.SpectatorTask.CPR_WHEEL = GEAR_RATIO*CPR_MOTOR

static

game_origin_mode

spectator_task.SpectatorTask.game_origin_mode = game_origin_mode

GEAR_RATIO

int spectator_task.SpectatorTask.GEAR_RATIO = 3952/33

static

left_pos_sh

spectator_task.SpectatorTask.left_pos_sh = left_pos_sh

prev_left_counts

spectator_task.SpectatorTask.prev_left_counts = left_counts

prev_right_counts

spectator_task.SpectatorTask.prev_right_counts = right_counts

RAD_PER_COUNT

int spectator_task.SpectatorTask.RAD_PER_COUNT = 2 * math.pi / CPR_WHEEL

static

right_pos_sh

spectator_task.SpectatorTask.right_pos_sh = right_pos_sh

run_observer

spectator_task.SpectatorTask.run_observer = run_observer

S0_INIT

int spectator_task.SpectatorTask.S0_INIT = 0

static

S1_WAITING

int spectator_task.SpectatorTask.S1_WAITING = 1

static

S2_ESTIMATING

int spectator_task.SpectatorTask.S2_ESTIMATING = 2

static

start_left_counts

spectator_task.SpectatorTask.start_left_counts = left_counts

start_right_counts

spectator_task.SpectatorTask.start_right_counts = right_counts

state

int spectator_task.SpectatorTask.state = self.S0_INIT

0: INIT STATE -----------------------------------------------—

1: WAITING STATE --------------------------------------------—

theta0_rad

float spectator_task.SpectatorTask.theta0_rad = float(theta0_rad)

theta_rad

spectator_task.SpectatorTask.theta_rad = self.theta0_rad

total_s_sh

spectator_task.SpectatorTask.total_s_sh = total_s_sh

WHEEL_BASE_MM

int spectator_task.SpectatorTask.WHEEL_BASE_MM = 141

static

WHEEL_RADIUS_MM

int spectator_task.SpectatorTask.WHEEL_RADIUS_MM = 35

static

x0_mm

float spectator_task.SpectatorTask.x0_mm = float(x0_mm)

x_mm

spectator_task.SpectatorTask.x_mm = self.x0_mm

y0_mm

float spectator_task.SpectatorTask.y0_mm = float(y0_mm)

y_mm

spectator_task.SpectatorTask.y_mm = self.y0_mm

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

• src/spectator_task.py