modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-28 19:06:40 -04:00
parent 6e52b596bd
commit 7c0cb9a7ae
7 changed files with 66 additions and 11 deletions
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6
src/modelec_com/src/pcb_action_interface.cpp
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@@ -209,7 +209,7 @@ namespace Modelec
{2, {{0, M_PI_2}}},
{3, {{0, M_PI_2}}},
{4, {{0, 1.25}, {1, 0.45}}},
{5, {{0, M_PI_2}}},
{5, {{0, 0}, {1, M_PI}}},
};
for (auto & [id, v] : servo_pos_mapper_)
@@ -222,10 +222,10 @@ namespace Modelec
servo_value_ = {
{0, 0},
{1, 0},
{1, 1},
{2, 0},
{3, 0},
{4, 0},
{4, 1},
{5, 0}
};

12
src/modelec_strat/data/config.xml
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@@ -55,20 +55,20 @@
<pcb>
<pcb_odo>
<name>pcb_odo</name>
<port>/dev/USB_ODO</port>
<!--<port>/tmp/USB_ODO</port>-->
<!--<port>/dev/USB_ODO</port>-->
<port>/tmp/USB_ODO</port>
<baud_rate>115200</baud_rate>
</pcb_odo>
<pcb_alim>
<name>pcb_alim</name>
<port>/dev/USB_ALIM</port>
<!--<port>/tmp/USB_ALIM</port>-->
<!--<port>/dev/USB_ALIM</port>-->
<port>/tmp/USB_ALIM</port>
<baud_rate>115200</baud_rate>
</pcb_alim>
<pcb_action>
<name>pcb_action</name>
<port>/dev/USB_ACTION</port>
<!--<port>/tmp/USB_ACTION</port>-->
<!--<port>/dev/USB_ACTION</port>-->
<port>/tmp/USB_ACTION</port>
<baud_rate>115200</baud_rate>
</pcb_action>
</pcb>

3
src/modelec_strat/include/modelec_strat/action_executor.hpp
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@@ -15,6 +15,7 @@ namespace Modelec
{
NONE,
DEPLOY_BANNER,
UNDEPLOY_BANNER,
TAKE_POT,
PLACE_POT,
DEPLOY_MAX_SIZE,
@@ -24,6 +25,7 @@ namespace Modelec
{
// Banner
DEPLOY_BANNER_STEP,
UNDEPLOY_BANNER_STEP,
// Take Pot
ASC_GO_DOWN,
@@ -56,6 +58,7 @@ namespace Modelec
void Update();
void DeployBanner();
void UndeployBanner();
void TakePot(bool two_floor = true);

4
src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
View File

@@ -27,6 +27,8 @@ namespace Modelec
{
GO_TO_FRONT,
DEPLOY_BANNER,
WAIT_5_SECONDS,
UNDEPLOY_BANNER,
GO_FORWARD,
DONE
} step_;
@@ -38,5 +40,7 @@ namespace Modelec
rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr score_pub_;
int mission_score_ = 0;
Point spawn_;
rclcpp::Time deploy_time_;
};
}

27
src/modelec_strat/src/action_executor.cpp
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@@ -113,6 +113,19 @@ namespace Modelec
}
break;
case UNDEPLOY_BANNER_STEP:
{
modelec_interfaces::msg::ActionServoPos msg;
msg.id = 5;
msg.pos = 0;
servo_move_pub_->publish(msg);
step_running_ = 1;
}
break;
case ASC_GO_DOWN:
{
modelec_interfaces::msg::ActionAscPos asc_msg;
@@ -311,6 +324,20 @@ namespace Modelec
}
}
void ActionExecutor::UndeployBanner()
{
if (action_done_)
{
action_ = UNDEPLOY_BANNER;
action_done_ = false;
step_running_ = 0;
step_.push(UNDEPLOY_BANNER_STEP);
Update();
}
}
void ActionExecutor::TakePot(bool two_floor)
{
if (action_done_)

23
src/modelec_strat/src/missions/banner_mission.cpp
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@@ -47,6 +47,7 @@ namespace Modelec
case GO_TO_FRONT:
{
action_executor_->DeployBanner();
deploy_time_ = node_->now();
step_ = DEPLOY_BANNER;
}
@@ -54,6 +55,28 @@ namespace Modelec
break;
case DEPLOY_BANNER:
{
if ((node_->now() - deploy_time_).seconds() >= 5)
{
step_ = WAIT_5_SECONDS;
}
else
{
RCLCPP_INFO(node_->get_logger(), "Waiting for banner deployment to finish... %d seconds left", 5 - static_cast<int>((node_->now() - deploy_time_).seconds()));
}
}
break;
case WAIT_5_SECONDS:
{
action_executor_->UndeployBanner();
step_ = UNDEPLOY_BANNER;
}
break;
case UNDEPLOY_BANNER:
{
nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 600, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);

2
src/modelec_utils/include/modelec_utils/utils.hpp
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@@ -5,8 +5,6 @@
#include <sstream>
namespace Modelec {
#define PI 3.14159265358979323846
std::vector<std::string> split(const std::string &s, char delim);
std::string join(const std::vector<std::string> &v, const std::string &delim);