compAIR/libcreate
compAIR/libcreate
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56 commits

Author SHA1 Message Date
Bernhard Klauninger
aaa7b5076e Implemented Create reset method 2024-09-22 17:32:37 +02:00
Bernhard Klauninger
2c58777e45 Actually fixed wrap around 2024-09-22 17:32:37 +02:00
DuSack1220
1bc2d768f7 fixed encoder overflow 2024-09-22 17:32:37 +02:00
DuSack1220
fd2638114a added cliff sensor signals 2024-09-22 17:32:37 +02:00
Swapnil Patel
d75d41c638 address warnings and errors 2022-10-03 18:05:12 -07:00
Swapnil Patel
de253b6e81 catch boost exceptions in Serial.h 2022-10-03 18:05:12 -07:00
Josh Gadeken
e99939c785
Mode report workaround (#67) 
* Add option for OI mode reporting bug workaround

https://github.com/AutonomyLab/create_robot/issues/64

* Update README.md

* Add note about 600 series OI mode reporting bug to Known Issues
  section and include details of API workaround option.
* Add myself to contributors list
 2022-04-06 17:21:35 -07:00
Jacob Perron
db575de22a Remove trailing whitespace 
Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2022-02-24 14:06:55 -08:00
Jacob Perron
1563e2b3e1
Add option to disable signal handlers (#65) 
This gives the user the option to create their own signal handler without having create::Create interfere.
They can disable the sigint/sigterm handler and be responsible for disconnecting from the robot themselves.

Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2021-05-05 23:25:40 -07:00
Jacob Perron
98660f6c21 Fix 'maybe-uninitialized' warnings 
Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2021-05-05 21:51:52 -07:00
Daniel Smith
449ed4b093
Fix motor setting (#62) 
* Change 3 setAllMotor calls to use float parameter.

* Use static_cast for proper conversion to float.
 2021-04-18 23:29:20 -07:00
tim-fan
20ed0b16ae
Use average dt values for velocity calculation (#60) 2021-04-18 23:24:43 -07:00
Jacob Perron
fd1d0a220f
Use steady clock for computing velocity (#59) 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
 2021-03-25 16:04:41 -07:00
Jacob Perron
2b9591f0f7
Replace boost features with C++11 equivalents (#58) 
* Replace boost features with C++11 equivalents

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Include <cmath> in util.h

Needed for std::abs

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
 2020-11-01 18:05:17 -08:00
Daniel Smith
850b011a55
Implement methods for getting overcurrent status. (#57) 2020-11-01 17:42:57 -08:00
Stefan Krupop
ccf6d0cdc0 Use OC_MOTORS instead of OC_MOTORS_PWM on V_1 models (#55) 
SCI for older Roombas (V_1) did not include OC_MOTORS_PWM, but only OC_MOTORS. Use that instead of OC_MOTORS_PWM for V_1, interpeting values != 0 as "on"
 2019-12-03 16:20:35 -08:00
Jacob Perron
eaeea24a21 Use std::chrono instead of custom timestamp function 
Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2019-09-02 12:09:43 -07:00
Jacob Perron
dce7336bbe Add compiler flags '-Wall -Wextra -Wpedantic' 
Fix warnings as a result.

Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2019-09-02 12:09:43 -07:00
Jacob Perron
f5044c7ec8 Disconnect from serial cleanly on SIGINT 
Send the STOP opcode before exiting the program to ensure the robot is not left in a state that could potentially drain the battery.

Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2019-08-27 00:47:49 -07:00
Ryota Suzuki
04ab2ccd80 add initializer of a variable for compiler compatibility 2019-08-26 22:43:29 -07:00
Ryota Suzuki
b42565be8e add other serial communication options 
Otherwize, it can be happened that Operation "7" (0x07) turns to be "135" (0x87)
 2019-08-26 22:43:29 -07:00
Jacob Perron
cafe0c5e56 Add API for getting left and right cliff detections 
Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2019-08-26 21:21:07 -07:00
Jacob Perron
4a0f8ad72b Add API for getting left and right wheeldrop 
Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2019-08-26 21:21:00 -07:00
Yutaka Kondo
2442ba209c Use shared pointer when binding callback for serial read (#38) 
* Resolves an issue with ROS Melodic on 18.04.
 2019-08-19 10:32:00 -07:00
Anton Gerasimov
070550e655 Fix for compatibility with Boost 1.66 
Compatibility with at least as early as Boost 1.58 still persists

Signed-off-by: Anton Gerasimov <tossel@gmail.com>
 2019-06-04 00:49:40 -07:00
Jacob Perron
5723673141 Update wheel diameter for Create 2 
Now matches the spec from iRobot.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
 2019-06-04 00:45:30 -07:00
Jacob Perron
4e8d497024 Add static cast to fix compiler warnings 
Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
 2019-03-26 22:03:10 -07:00
Jacob Perron
6037b8c3bb Remove std::cout statement 2018-12-01 23:01:33 -08:00
Jacob Perron
a70dee6605 Refactor Packet API 
Declare setData member as protected
Rename 'setTempData' to 'setDataToValidate'
 2018-04-06 21:44:28 -07:00
Jacob Perron
6a8702f4e1 Remove redundant packets from Data constructor 2018-04-06 21:44:28 -07:00
Erik Schembor
5bc4d85177 Add apis for getting the measured velocities of the wheels 2017-12-13 22:04:22 -05:00
Erik Schembor
3906d7954d Add ability to drive the wheels with direct pwm duty 2017-12-13 21:58:18 -05:00
Ben Wolsieffer
618956e14c Add support for early model Roomba 400s and other robots using the original SCI protocol. 2016-08-14 22:40:02 -04:00
Jacob Perron
ff0fce11f4 Merge branch 'master' of https://github.com/lopsided98/libcreate into lopsided98-master 
Conflicts:
	src/create.cpp
 2016-06-28 12:49:06 -07:00
Ben Wolsieffer
d6f759d683 Expose individual wheel distances and requested velocities. Fix wheel distance calculation for the Create 1. 2016-06-27 15:00:15 -04:00
Ben Wolsieffer
b0e8259510 Fix odometry inversion for Create 1. 2016-06-24 17:46:20 -04:00
Jacob Perron
304fd54e0d Make velocity relative to base frame, not odometry frame 2016-04-20 12:09:11 -07:00
Jacob Perron
44a6f809e8 Minor refactor 2016-04-15 14:33:59 -07:00
Jacob Perron
82b01e4057 Add covariance info to Pose and Vel 
Fix getMode bug
 2016-04-15 14:00:10 -07:00
jacobperron
00e92b7773 Fix odometry sign error 
Add warning in code regarding Create 1 odometry issue
Add odom_example.cpp
 2016-04-07 20:51:41 -07:00
jacobperron
e234d705f9 Add API to get light sensor signals 2016-04-01 15:28:34 -07:00
jacobperron
1b6d36152c Fix odometry for Create 1 2016-03-31 22:40:42 -07:00
jacobperron
055cf859bf Fix odom angle sign error 2016-03-31 22:14:56 -07:00
jacobperron
76e5ac8816 Convert units to base units 2016-03-29 19:16:04 -07:00
jacobperron
fbef2e2c88 Implement 'getMode' 2016-03-28 22:31:23 -07:00
jacobperron
75dd293bfd * Rename 'isIRDetect*' functions to 'isLightBumper*' 
* Documentation / code cleanup
* Add function 'driveRadius'
* Add function 'isVirtualWall'
 2016-03-28 19:17:35 -07:00
jacobperron
cdc6927e76 Fix sign error on returned 'current' and 'temperature' 2016-03-25 18:10:53 -07:00
jacobperron
047dd9d6bc Fix odometry bug 2016-03-25 17:04:59 -07:00
Jacob Perron
dc998af427 Fix bug: convert distance measurement to meters 2016-03-17 13:07:02 -07:00
Jacob Perron
f073458624 Add support for first generation Create (Roomba 400 series) 2016-03-17 13:07:02 -07:00