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Refactor pulse width calculation for kick into its own function #3351

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Refactor pulse width calculation for kick into its own function #3351

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d2d180e
Refactor pulse width calculation for kick into its own function
DimitriK24 Oct 5, 2024
9f250fa
Update javadoc for chicker and chipper pulse width parameters; mark c…
DimitriK24 Oct 5, 2024
7eaf4ce
Merge branch 'master' of https://github.com/UBC-Thunderbots/Software …
DimitriK24 Oct 19, 2024
db85d07
[pre-commit.ci lite] apply automatic fixes
pre-commit-ci-lite[bot] Oct 19, 2024
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32 changes: 24 additions & 8 deletions src/proto/message_translation/power_frame_msg.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,13 +112,30 @@ TbotsProto_PowerStatus inline createNanoPbPowerStatus(
return status;
}

/**
* Calculates width of the pulse for chicker
* @param kick_constant The constant to use in the kick speed to pulse width conversion
* @param kick_coefficient The coefficient to use in the kick speed to pulse width
* conversion
* @param speed Speed of the desired kick in m/s
* @return Width of pulse
*/
inline uint32_t calculateChickerPulseWidth(int kick_constant, double kick_coefficient,
float speed)
{
return static_cast<uint32_t>(kick_constant * std::exp(kick_coefficient * speed));
}

// These functions are only used in power service so they are excluded from platformio
// Protobuf needs additional support to run on an esp32
#ifndef PLATFORMIO_BUILD
/**
* Converts a google protobuf power control msg to its nanopb representation
*
* @param google_control protobuf message to convert
* @param kick_coeff The coefficient to use for the chicker pulse width calculation
* @param kick_constant The constant to use in the chicker pulse width calculation
* @param chip_pulse_width The width of the pulse to use for the chipper
* @return a nanopb power control msg matching provided protobuf
*/

Expand All @@ -139,9 +156,8 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
nanopb_control.chicker.which_chicker_command =
TbotsProto_PowerPulseControl_ChickerControl_kick_pulse_width_tag;
nanopb_control.chicker.chicker_command.kick_pulse_width =
static_cast<uint32_t>(
kick_constant *
std::exp(kick_coeff * google_control.chicker().kick_speed_m_per_s()));
calculateChickerPulseWidth(kick_constant, kick_coeff,
google_control.chicker().kick_speed_m_per_s());
break;
case TbotsProto::PowerControl::ChickerControl::kChipDistanceMeters:
nanopb_control.chicker.which_chicker_command =
Expand All @@ -158,11 +174,11 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
.which_auto_chip_or_kick =
TbotsProto_PowerPulseControl_AutoChipOrKick_autokick_pulse_width_tag;
nanopb_control.chicker.chicker_command.auto_chip_or_kick
.auto_chip_or_kick.autokick_pulse_width = static_cast<uint32_t>(
kick_constant *
std::exp(kick_coeff * google_control.chicker()
.auto_chip_or_kick()
.autokick_speed_m_per_s()));
.auto_chip_or_kick.autokick_pulse_width =
calculateChickerPulseWidth(kick_constant, kick_coeff,
google_control.chicker()
.auto_chip_or_kick()
.autokick_speed_m_per_s());
break;
case TbotsProto::AutoChipOrKick::kAutochipDistanceMeters:
nanopb_control.chicker.chicker_command.auto_chip_or_kick
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