Falcons velocitycontrol -- implementation

janfeitsma / MRA-prototype

MRA (Robocup MSL Reference Architecture) prototype

MIT License

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Falcons velocitycontrol -- implementation #2

Closed janfeitsma closed 1 year ago

janfeitsma commented 1 year ago

Implementation.

This branch has gotten way too big. Let's integrate, Jurge can you approve? I shall try to cut it up next time :)...

Status: Simulation on Falcons SW stack OK. (Branch: bazel/MRA_prototype_vc_with_csfix)

Bonus: see component TrajectoryGeneration and its plots.

Remaining items:

[x] integrate in Falcons code
[x] careful with change in RCS definition ... can of worms has been eaten ...
[x] test in simulator
[x] implement STOP/watchdog

Note: coordinate systems are now according to MSL spec (Falcons was using a 90-degree rotated RCS w.r.t. FCS).

jveijck commented 1 year ago

CMakeLists.txt needs a update. On line 47 libraries/geometry/geometry.cpp is mentioned. This file does not exists. Should the following files not be added: libraries/geometry/clipping.cpp libraries/geometry/pose.cpp libraries/geometry/position.cpp libraries/geometry/test-pose.cpp libraries/geometry/test-position.cpp libraries/geometry/velocity.cpp

janfeitsma commented 1 year ago

Yeah I did not bother with cmake yet, I am still testing and integrating in Falcons code (under the bazel integration stream), it has become quite a can of worms because our FCS/RCS definitions were 90 degrees off and it had impact at many places, sometimes tricky...

Anyway I really could use some help on the cmake front. Edit: see #4. Then I can keep focusing on content and framework (codegen for instance).

janfeitsma commented 1 year ago

Jurge, I'd like to integrate this branch into main now that simulation at Falcons is OK-ish. Please comment.

(Somehow I cannot invite you to review, maybe some permission issue?)

jveijck commented 1 year ago

I agree. If branch works in simulation, then it is ok for moving it to the main branch.