ME 405 Romi
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pathing_plan_task Namespace Reference

Classes

class  pathing_plan
 Pathing plan task class for ROMI navigation. More...

Variables

float PI = 3.1415
 Pi constant for angle conversions.
tuple YAWGOAL1 = (82)*(PI/180)
 Fork angle.
tuple YAWGOAL2 = (329)*(PI/180)
 CP1 to CP2.
tuple YAWGOAL3 = (90)*(PI/180)
 CP2 to Cup.
tuple YAWGOAL4 = (166)*(PI/180)
 CP3 to CP4.
tuple YAWGOAL5 = (163.5)*(PI/180)
 CP4 to garage.
tuple YAWGOAL6 = (255)*(PI/180)
 Garage to CP5.
tuple YAWGOAL7 = (345)*(PI/180)
 Wall to Cup.
tuple YAWGOAL8 = (240)*(PI/180)
 Cup to Finish.
int LINE_FOLLOW_STATE_0 = 0
 Initial line following state.
int CENTROID_OFFSET_STATE = 1
 Centroid offset adjustment state.
int ALIGNMENT_GOAL_1 = 2
 First alignment goal state.
int ALIGNMENT_CONTROL_1 = 3
 First alignment control state.
int FORK = 4
 Fork navigation state.
int ALIGNMENT_GOAL_2 = 5
 Second alignment goal state.
int ALIGNMENT_CONTROL_2 = 6
 Second alignment control state.
int FREE_TRAVERSE_1 = 7
 First free traverse state.
int CP2_PIVOT_1 = 29
 CP2 first pivot state.
int CP2_PIVOT_2 = 31
 CP2 second pivot state.
int LINE_FOLLOWING_2 = 8
 Second line following state.
int ALIGNMENT_GOAL_3 = 9
 Third alignment goal state.
int ALIGNMENT_CONTROL_3 = 10
 Third alignment control state.
int FREE_TRAVERSE_2 = 11
 Second free traverse state.
int LINE_FOLLOW_3 = 12
 Third line following state.
int ALIGNMENT_GOAL_4 = 13
 Fourth alignment goal state.
int ALIGNMENT_CONTROL_4 = 14
 Fourth alignment control state.
int FREE_TRAVERSE_3 = 15
 Third free traverse state.
int LINE_FOLLOW_GRG = 32
 Garage line following state.
int ALIGNMENT_GOAL_5 = 16
 Fifth alignment goal state.
int ALIGNMENT_CONTROL_5 = 17
 Fifth alignment control state.
int FREE_TRAVERSE_4 = 18
 Fourth free traverse state.
int ALIGNMENT_GOAL_6 = 19
 Sixth alignment goal state.
int ALIGNMENT_CONTROL_6 = 20
 Sixth alignment control state.
int FREE_TRAVERSE_5 = 21
 Fifth free traverse state.
int WALL = 22
 Wall detection state.
int ALIGNMENT_GOAL_7 = 23
 Seventh alignment goal state.
int ALIGNMENT_CONTROL_7 = 24
 Seventh alignment control state.
int CUP = 25
 Cup navigation state.
int ALIGNMENT_GOAL_8 = 26
 Eighth alignment goal state.
int ALIGNMENT_CONTROL_8 = 27
 Eighth alignment control state.
int FINISH_LINE = 33
 Finish line state.
int FINISH = 28
 Finish state.
int STOP = 40
 Stop state.
int TESTING = 30
 Testing state.
int CP1_2_DISTANCE = 1800
 Distance from CP1 to CP2.
int LF2_DIST = 2025
 Line follow 2 distance.
int CUP_CP3_DIST = 2725
 Distance from cup to CP3.
int CP3_CP4 = 3150
 Distance from CP3 to CP4.
int CP4_LINE = 3275
 Distance to CP4 line.
int CP4_GARAGE = 3600
 Distance from CP4 to garage.
int OUT_GARAGE = 3900
 Distance out of garage.
int BACK_UP_DIST = OUT_GARAGE + 100
 Backup distance.
int TO_CUP = 4300
 Distance to cup.
int RUN_TO_LINE = 4500
 Distance to run to line.
int FINISH_DIST = 5000
 Finish distance.

Variable Documentation

◆ ALIGNMENT_CONTROL_1

int pathing_plan_task.ALIGNMENT_CONTROL_1 = 3

First alignment control state.

Definition at line 43 of file pathing_plan_task.py.

◆ ALIGNMENT_CONTROL_2

int pathing_plan_task.ALIGNMENT_CONTROL_2 = 6

Second alignment control state.

Definition at line 46 of file pathing_plan_task.py.

◆ ALIGNMENT_CONTROL_3

int pathing_plan_task.ALIGNMENT_CONTROL_3 = 10

Third alignment control state.

Definition at line 52 of file pathing_plan_task.py.

◆ ALIGNMENT_CONTROL_4

int pathing_plan_task.ALIGNMENT_CONTROL_4 = 14

Fourth alignment control state.

Definition at line 56 of file pathing_plan_task.py.

◆ ALIGNMENT_CONTROL_5

int pathing_plan_task.ALIGNMENT_CONTROL_5 = 17

Fifth alignment control state.

Definition at line 60 of file pathing_plan_task.py.

◆ ALIGNMENT_CONTROL_6

int pathing_plan_task.ALIGNMENT_CONTROL_6 = 20

Sixth alignment control state.

Definition at line 63 of file pathing_plan_task.py.

◆ ALIGNMENT_CONTROL_7

int pathing_plan_task.ALIGNMENT_CONTROL_7 = 24

Seventh alignment control state.

Definition at line 67 of file pathing_plan_task.py.

◆ ALIGNMENT_CONTROL_8

int pathing_plan_task.ALIGNMENT_CONTROL_8 = 27

Eighth alignment control state.

Definition at line 70 of file pathing_plan_task.py.

◆ ALIGNMENT_GOAL_1

int pathing_plan_task.ALIGNMENT_GOAL_1 = 2

First alignment goal state.

Definition at line 42 of file pathing_plan_task.py.

◆ ALIGNMENT_GOAL_2

int pathing_plan_task.ALIGNMENT_GOAL_2 = 5

Second alignment goal state.

Definition at line 45 of file pathing_plan_task.py.

◆ ALIGNMENT_GOAL_3

int pathing_plan_task.ALIGNMENT_GOAL_3 = 9

Third alignment goal state.

Definition at line 51 of file pathing_plan_task.py.

◆ ALIGNMENT_GOAL_4

int pathing_plan_task.ALIGNMENT_GOAL_4 = 13

Fourth alignment goal state.

Definition at line 55 of file pathing_plan_task.py.

◆ ALIGNMENT_GOAL_5

int pathing_plan_task.ALIGNMENT_GOAL_5 = 16

Fifth alignment goal state.

Definition at line 59 of file pathing_plan_task.py.

◆ ALIGNMENT_GOAL_6

int pathing_plan_task.ALIGNMENT_GOAL_6 = 19

Sixth alignment goal state.

Definition at line 62 of file pathing_plan_task.py.

◆ ALIGNMENT_GOAL_7

int pathing_plan_task.ALIGNMENT_GOAL_7 = 23

Seventh alignment goal state.

Definition at line 66 of file pathing_plan_task.py.

◆ ALIGNMENT_GOAL_8

int pathing_plan_task.ALIGNMENT_GOAL_8 = 26

Eighth alignment goal state.

Definition at line 69 of file pathing_plan_task.py.

◆ BACK_UP_DIST

int pathing_plan_task.BACK_UP_DIST = OUT_GARAGE + 100

Backup distance.

Definition at line 85 of file pathing_plan_task.py.

◆ CENTROID_OFFSET_STATE

int pathing_plan_task.CENTROID_OFFSET_STATE = 1

Centroid offset adjustment state.

Definition at line 41 of file pathing_plan_task.py.

◆ CP1_2_DISTANCE

int pathing_plan_task.CP1_2_DISTANCE = 1800

Distance from CP1 to CP2.

Definition at line 78 of file pathing_plan_task.py.

◆ CP2_PIVOT_1

int pathing_plan_task.CP2_PIVOT_1 = 29

CP2 first pivot state.

Definition at line 48 of file pathing_plan_task.py.

◆ CP2_PIVOT_2

int pathing_plan_task.CP2_PIVOT_2 = 31

CP2 second pivot state.

Definition at line 49 of file pathing_plan_task.py.

◆ CP3_CP4

int pathing_plan_task.CP3_CP4 = 3150

Distance from CP3 to CP4.

Definition at line 81 of file pathing_plan_task.py.

◆ CP4_GARAGE

int pathing_plan_task.CP4_GARAGE = 3600

Distance from CP4 to garage.

Definition at line 83 of file pathing_plan_task.py.

◆ CP4_LINE

int pathing_plan_task.CP4_LINE = 3275

Distance to CP4 line.

Definition at line 82 of file pathing_plan_task.py.

◆ CUP

int pathing_plan_task.CUP = 25

Cup navigation state.

Definition at line 68 of file pathing_plan_task.py.

◆ CUP_CP3_DIST

int pathing_plan_task.CUP_CP3_DIST = 2725

Distance from cup to CP3.

Definition at line 80 of file pathing_plan_task.py.

◆ FINISH

int pathing_plan_task.FINISH = 28

Finish state.

Definition at line 72 of file pathing_plan_task.py.

◆ FINISH_DIST

int pathing_plan_task.FINISH_DIST = 5000

Finish distance.

Definition at line 88 of file pathing_plan_task.py.

◆ FINISH_LINE

int pathing_plan_task.FINISH_LINE = 33

Finish line state.

Definition at line 71 of file pathing_plan_task.py.

◆ FORK

int pathing_plan_task.FORK = 4

Fork navigation state.

Definition at line 44 of file pathing_plan_task.py.

◆ FREE_TRAVERSE_1

int pathing_plan_task.FREE_TRAVERSE_1 = 7

First free traverse state.

Definition at line 47 of file pathing_plan_task.py.

◆ FREE_TRAVERSE_2

int pathing_plan_task.FREE_TRAVERSE_2 = 11

Second free traverse state.

Definition at line 53 of file pathing_plan_task.py.

◆ FREE_TRAVERSE_3

int pathing_plan_task.FREE_TRAVERSE_3 = 15

Third free traverse state.

Definition at line 57 of file pathing_plan_task.py.

◆ FREE_TRAVERSE_4

int pathing_plan_task.FREE_TRAVERSE_4 = 18

Fourth free traverse state.

Definition at line 61 of file pathing_plan_task.py.

◆ FREE_TRAVERSE_5

int pathing_plan_task.FREE_TRAVERSE_5 = 21

Fifth free traverse state.

Definition at line 64 of file pathing_plan_task.py.

◆ LF2_DIST

int pathing_plan_task.LF2_DIST = 2025

Line follow 2 distance.

Definition at line 79 of file pathing_plan_task.py.

◆ LINE_FOLLOW_3

int pathing_plan_task.LINE_FOLLOW_3 = 12

Third line following state.

Definition at line 54 of file pathing_plan_task.py.

◆ LINE_FOLLOW_GRG

int pathing_plan_task.LINE_FOLLOW_GRG = 32

Garage line following state.

Definition at line 58 of file pathing_plan_task.py.

◆ LINE_FOLLOW_STATE_0

int pathing_plan_task.LINE_FOLLOW_STATE_0 = 0

Initial line following state.

Definition at line 40 of file pathing_plan_task.py.

◆ LINE_FOLLOWING_2

int pathing_plan_task.LINE_FOLLOWING_2 = 8

Second line following state.

Definition at line 50 of file pathing_plan_task.py.

◆ OUT_GARAGE

int pathing_plan_task.OUT_GARAGE = 3900

Distance out of garage.

Definition at line 84 of file pathing_plan_task.py.

◆ PI

float pathing_plan_task.PI = 3.1415

Pi constant for angle conversions.

Definition at line 29 of file pathing_plan_task.py.

◆ RUN_TO_LINE

int pathing_plan_task.RUN_TO_LINE = 4500

Distance to run to line.

Definition at line 87 of file pathing_plan_task.py.

◆ STOP

int pathing_plan_task.STOP = 40

Stop state.

Definition at line 74 of file pathing_plan_task.py.

◆ TESTING

int pathing_plan_task.TESTING = 30

Testing state.

Definition at line 75 of file pathing_plan_task.py.

◆ TO_CUP

int pathing_plan_task.TO_CUP = 4300

Distance to cup.

Definition at line 86 of file pathing_plan_task.py.

◆ WALL

int pathing_plan_task.WALL = 22

Wall detection state.

Definition at line 65 of file pathing_plan_task.py.

◆ YAWGOAL1

tuple pathing_plan_task.YAWGOAL1 = (82)*(PI/180)

Fork angle.

Definition at line 30 of file pathing_plan_task.py.

◆ YAWGOAL2

tuple pathing_plan_task.YAWGOAL2 = (329)*(PI/180)

CP1 to CP2.

Definition at line 31 of file pathing_plan_task.py.

◆ YAWGOAL3

tuple pathing_plan_task.YAWGOAL3 = (90)*(PI/180)

CP2 to Cup.

Definition at line 32 of file pathing_plan_task.py.

◆ YAWGOAL4

tuple pathing_plan_task.YAWGOAL4 = (166)*(PI/180)

CP3 to CP4.

Definition at line 33 of file pathing_plan_task.py.

◆ YAWGOAL5

tuple pathing_plan_task.YAWGOAL5 = (163.5)*(PI/180)

CP4 to garage.

Definition at line 34 of file pathing_plan_task.py.

◆ YAWGOAL6

tuple pathing_plan_task.YAWGOAL6 = (255)*(PI/180)

Garage to CP5.

Definition at line 35 of file pathing_plan_task.py.

◆ YAWGOAL7

tuple pathing_plan_task.YAWGOAL7 = (345)*(PI/180)

Wall to Cup.

Definition at line 36 of file pathing_plan_task.py.

◆ YAWGOAL8

tuple pathing_plan_task.YAWGOAL8 = (240)*(PI/180)

Cup to Finish.

Definition at line 37 of file pathing_plan_task.py.