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Add killswitch for sentry based on gamestate #146

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Add killswitch for sentry based on gamestate #146

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ad5cc3c
add sentry killswitch
tildezero Oct 4, 2024
33921f5
turns out i dont know c++
tildezero Oct 4, 2024
ce572c1
use formatter
tildezero Oct 4, 2024
e00b3e5
Remove TODO comment
calebchalmers Nov 6, 2024
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6 changes: 6 additions & 0 deletions ut-robomaster/src/drivers.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#pragma once

#include "tap/communication/serial/ref_serial_data.hpp"
#include "tap/drivers.hpp"

#include "communication/cv_board.hpp"
Expand All @@ -15,6 +16,11 @@ class Drivers : public tap::Drivers
communication::RttStream rtt;

bool isKillSwitched() { return !remote.isConnected(); }
bool isGameActive()
{
return this->refSerial.getGameData().gameStage ==
tap::communication::serial::RefSerialData::Rx::GameStage::IN_GAME;
}
}; // class Drivers

} // namespace src
11 changes: 9 additions & 2 deletions ut-robomaster/src/subsystems/chassis/command_sentry_position.cpp
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Previously, we had a timer which would wait until the match starts to begin moving. Could you keep the timer but start it once the game officially starts? I.e. once the match starts, the Sentry will wait maybe 10 seconds before it starts moving, to avoid excess drift on the field.

Original file line number Diff line number Diff line change
Expand Up @@ -47,10 +47,17 @@ void CommandSentryPosition::execute()
spin = 0.0f;
}

chassis->input(move, spin);
if (drivers->isGameActive())
{
chassis->input(move, spin);
}
else
{
chassis->input(Vector2f(0.0f), 0.0f);
}
}

void CommandSentryPosition::end(bool) { chassis->input(Vector2f(0.0f), 0.0f); }
bool CommandSentryPosition::isFinished() const { return false; }

} // namespace commands
} // namespace commands