robo_tasks.cpp File Reference

#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
#include "usb_device.h"
#include "robot.h"
#include "arduino.h"
#include "usart.h"
#include "error.h"
#include "i2c.h"
#include "devs_config.h"
#include "all_tests.h"

Include dependency graph for robo_tasks.cpp:

Functions
void	StartDefaultTask (void const *argument)
	Function implementing the defaultTask thread. More...
void	RobotThread (void const *argument)
void	LoggingThread (void const *argument)
void	MotorThread (void const *argument)
	Function implementing the MotorSequence thread. More...
void	log_data ()
	Function implementing the logging thread. More...

Variables
Robot &	Khangai_Robot = Robot::get_Instance()
	Function implementing the RoboSequence thread. More...
GameField	gCurrent_Field = GameField::NONE

Function Documentation

log_data()

void log_data

(

)

Function implementing the logging thread.

Parameters

argument

Not used

Return values

None

LoggingThread()

void LoggingThread

(

void const *

argument

)

Here is the call graph for this function:

MotorThread()

void MotorThread

(

void const *

argument

)

Function implementing the MotorSequence thread.

Parameters

argument

Not used

Return values

None

Here is the call graph for this function:

RobotThread()

void RobotThread

(

void const *

argument

)

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StartDefaultTask()

void StartDefaultTask

(

void const *

argument

)

Function implementing the defaultTask thread.

Parameters

argument

Not used

Return values

None

Variable Documentation

gCurrent_Field

GameField gCurrent_Field = GameField::NONE

Khangai_Robot

Robot& Khangai_Robot = Robot::get_Instance()

Function implementing the RoboSequence thread.

Parameters

argument

Not used

Return values

None

Note

This thread is responsible for reading the current state of the robot.

Tasks performed by this thread :
1) Read orientation given by the OrientationSensor based on the State the
   robot is in.
2) Read position given by the PositionSensor based on the State the robot is
   in.
3) Filter Orientation data.
     3.1) Filter roll
     3.2) Filter roll compensated pitch
     3.3) Filter tilt compensated pitch
4) Rotate the measured position from body frame to the field frame
5) Filter Position Data

6) Find the robot's state based on it's current position
7) Calculate the robot's angle of attack to reach the next state
8) Calculate the robot's velocity according to it's state
9) Calculate the correction angular velocity of the robot
10) Calculate the omegas of each wheel

11) Measure omega of each wheels
12) Compute error
13) Compute PID using available PID_Algorithm
14) set Omega of each wheel
15) update new omegas of all wheels at once