Add encoder with filter

server/include/Spi.hpp

@@ -1,10 +0,0 @@
-#ifndef COMPLIB_SERVER_SPI_HPP
-#define COMPLIB_SERVER_SPI_HPP
-
-
-class Spi {
-
-};
-
-
-#endif //COMPLIB_SERVER_SPI_HPP

server/include/encoder.hpp

@@ -0,0 +1,14 @@
+#ifndef COMPLIB_SERVER_ENCODER_HPP
+#define COMPLIB_SERVER_ENCODER_HPP
+
+#include <vector>
+#include <cstdint>
+
+#define ENCODER_COUNT 4
+
+class Encoder {
+public:
+    static std::vector<int32_t> read_all();
+};
+
+#endif // COMPLIB_SERVER_ENCODER_HPP

server/include/mathUtils.hpp

@@ -0,0 +1,27 @@
+#ifndef COMPLIB_SERVER_MATHUTILS_HPP
+#define COMPLIB_SERVER_MATHUTILS_HPP
+
+#include <cstdint>
+
+namespace mathUtils {
+    inline int int_from_bytes(uint8_t *data, int length) {
+        int ret = 0;
+
+        int i = 0;
+        for (int j = length -1; j >= 0; j--) {
+            ret = ret | (data[i] << (j * 8));
+            i++;
+        }
+        return ret;
+    }
+
+    inline void bytes_from_int(int data, int length, uint8_t *result) {
+        int i = 0;
+        for (int j = length -1; j >= 0; j--) {
+            result[i] = ((data >> (j * 8)) & 0xffu);
+            i++;
+        }
+    }
+}
+
+#endif // COMPLIB_SERVER_MATHUTILS_HPP

server/include/motor.hpp

@@ -0,0 +1,44 @@
+#ifndef COMPLIB_SERVER_MOTOR_HPP
+#define COMPLIB_SERVER_MOTOR_HPP
+
+#include <cstdint>
+#include <vector>
+#include <chrono>
+
+#include "include/robot.hpp"
+
+class Motor {
+public:
+    enum Mode : uint8_t {
+        COAST = 0,
+        FORWARD = 1,
+        BACKWARD = 2,
+        BREAK = 3,
+        SERVO = 4,
+        NONE = 5
+    };
+
+    static Motor& get_instance()
+    {
+        static Motor instance;
+        return instance;
+    }
+
+    Motor(Motor const&) = delete;
+    void operator=(Motor const&) = delete;
+
+    static void power(uint8_t port, double percent);
+    static void pwm(uint8_t port, uint16_t pwm, Mode mode);
+
+    std::vector<double> get_speed();
+private:
+    Motor();
+
+    int32_t last_encoder_values[MOTOR_COUNT] = {0};
+    double filtered_speeds[MOTOR_COUNT] = {0};
+    std::chrono::system_clock::time_point last_time_read;
+    
+    void reset_speed();
+};
+
+#endif // COMPLIB_SERVER_MOTOR_HPP

server/include/reset.hpp

@@ -0,0 +1,31 @@
+#ifndef COMPLIB_SERVER_RESET_HPP
+#define COMPLIB_SERVER_RESET_HPP
+
+#include <pigpio.h>
+
+#define RESET_PIN 23
+#define BOOT_PIN 17
+
+#define RESET_SLEEP_TIME_US 1000 * 100
+#define RESET_STARTUP_SLEEP_TIME_US 1000 * 500
+
+namespace Reset {
+    void reset_robot() {
+        gpioInitialise();
+
+        gpioSetMode(BOOT_PIN, PI_OUTPUT);
+        gpioSetMode(RESET_PIN, PI_OUTPUT);
+
+        gpioWrite(BOOT_PIN, 0);
+        gpioWrite(RESET_PIN, 0);
+
+        usleep(RESET_SLEEP_TIME_US);
+
+        gpioWrite(RESET_PIN, 1);
+
+        usleep(RESET_STARTUP_SLEEP_TIME_US);
+    }
+}
+
+
+#endif //COMPLIB_SERVER_RESET_HPP

server/include/robot.hpp

@@ -0,0 +1,22 @@
+#ifndef COMPLIB_SERVER_ROBOT_HPP
+#define COMPLIB_SERVER_ROBOT_HPP
+
+#define PI 3.14159265359L
+
+#define WHEEL_CIRCUMFERENCE_MM (71.0L * PI)
+#define TICKS_PER_TURN (27.7L * 100.0L)
+#define ARBOR_LENGTH_MM 139.0L
+#define ARBOR_LENGTH_M (ARBOR_LENGTH_MM / 1000.0L)
+#define TICKS_PER_METER (1000.0L / WHEEL_CIRCUMFERENCE_MM * TICKS_PER_TURN)
+
+#define MOTOR_COUNT 4
+#define MAX_MOTOR_SPEED 65535
+
+#define MOTOR_MAX_DELTA_TIME_S 0.1L
+#define MOTOR_FILTER_ALPHA 0.05L
+#define MOTOR_FILTER_RESET_DELAY_US (1000 * 10)
+
+#define LEFT_PORT 3
+#define RIGHT_PORT 0
+
+#endif // COMPLIB_SERVER_ROBOT_HPP

server/include/spi.hpp

@@ -0,0 +1,126 @@
+#ifndef COMPLIB_SERVER_SPI_HPP
+#define COMPLIB_SERVER_SPI_HPP
+
+//SPI_MODE_0 (0,0) 	CPOL = 0, CPHA = 0, Clock idle low, data is clocked in on rising edge, output data (change) on falling edge
+//SPI_MODE_1 (0,1) 	CPOL = 0, CPHA = 1, Clock idle low, data is clocked in on falling edge, output data (change) on rising edge
+//SPI_MODE_2 (1,0) 	CPOL = 1, CPHA = 0, Clock idle high, data is clocked in on falling edge, output data (change) on rising edge
+//SPI_MODE_3 (1,1) 	CPOL = 1, CPHA = 1, Clock idle high, data is clocked in on rising, edge output data (change) on falling edge
+
+#define SPI_BUFFER_SIZE 20
+#define SPI_SPEED 4000000 // 4 MHz
+#define SPI_BITS_PER_WORD 8
+
+class Spi {
+public:
+    static Spi& getInstance()
+    {
+        static Spi instance;
+        return instance;
+    }
+
+    Spi(Spi const&) = delete;
+    void operator=(Spi const&) = delete;
+
+    int read(uint8_t reg, uint8_t length);
+    void read_array(uint8_t reg, uint8_t length, uint8_t* data);
+    
+    void write(uint8_t reg, uint8_t length, int value);
+    void write_array(uint8_t reg, uint8_t length, const uint8_t* data);
+    
+    enum Register : uint8_t {
+        IDENTIFICATION_MODEL_ID = 1,
+        IDENTIFICATION_MODEL_REV_MAJOR = 2,
+        IDENTIFICATION_MODEL_REV_MINOR = 3,
+        IDENTIFICATION_MODEL_REV_PATCH = 4,
+
+        // Motor encoder positions
+        MOTOR_1_POS_B3 = 10,
+        MOTOR_1_POS_B2 = 11,
+        MOTOR_1_POS_B1 = 12,
+        MOTOR_1_POS_B0 = 13,
+        MOTOR_2_POS_B3 = 14,
+        MOTOR_2_POS_B2 = 15,
+        MOTOR_2_POS_B1 = 16,
+        MOTOR_2_POS_B0 = 17,
+        MOTOR_3_POS_B3 = 18,
+        MOTOR_3_POS_B2 = 19,
+        MOTOR_3_POS_B1 = 20,
+        MOTOR_3_POS_B0 = 21,
+        MOTOR_4_POS_B3 = 22,
+        MOTOR_4_POS_B2 = 23,
+        MOTOR_4_POS_B1 = 24,
+        MOTOR_4_POS_B0 = 25,
+
+        // PWM Control Modes
+        PWM_1_CTRL = 26,
+        PWM_2_CTRL = 27,
+        PWM_3_CTRL = 28,
+        PWM_4_CTRL = 29,
+
+        // Motor pwm speed
+        MOTOR_1_PWM_H = 30,
+        MOTOR_1_PWM_L = 31,
+        MOTOR_2_PWM_H = 32,
+        MOTOR_2_PWM_L = 33,
+        MOTOR_3_PWM_H = 34,
+        MOTOR_3_PWM_L = 35,
+        MOTOR_4_PWM_H = 36,
+        MOTOR_4_PWM_L = 37,
+
+        // Servo goal position
+        SERVO_1_PWM_H = 38,
+        SERVO_1_PWM_L = 39,
+        SERVO_2_PWM_H = 40,
+        SERVO_2_PWM_L = 41,
+        SERVO_3_PWM_H = 42,
+        SERVO_3_PWM_L = 43,
+        SERVO_4_PWM_H = 44,
+        SERVO_4_PWM_L = 45,
+        SERVO_5_PWM_H = 46,
+        SERVO_5_PWM_L = 47,
+        SERVO_6_PWM_H = 48,
+        SERVO_6_PWM_L = 49,
+        SERVO_7_PWM_H = 50,
+        SERVO_7_PWM_L = 51,
+        SERVO_8_PWM_H = 52,
+        SERVO_8_PWM_L = 53,
+
+        // IR Sensor value
+        IR_1_H = 54,
+        IR_1_L = 55,
+        IR_2_H = 56,
+        IR_2_L = 57,
+        IR_3_H = 58,
+        IR_3_L = 59,
+        IR_4_H = 60,
+        IR_4_L = 61,
+        IR_5_H = 62,
+        IR_5_L = 63,
+        IR_1_LED = 64,
+        IR_2_LED = 65,
+        IR_3_LED = 66,
+        IR_4_LED = 67,
+        IR_5_LED = 68,
+
+        // Display registers
+        DISPLAY_LINE_1_C0 = 69,
+        DISPLAY_LINE_2_C0 = 85,
+        DISPLAY_LINE_3_C0 = 101,
+        DISPLAY_LINE_4_C0 = 117
+    };
+
+private:
+    Spi();
+
+    int spi_file_descriptor{};
+    uint8_t tx_buffer[SPI_BUFFER_SIZE] = {0};
+    uint8_t rx_buffer[SPI_BUFFER_SIZE] = {0};
+
+    void transfer();
+    void clear_buffers();
+
+    uint8_t calculate_checksum(uint8_t* data, uint8_t length);
+};
+
+
+#endif //COMPLIB_SERVER_SPI_HPP