Feature/tuning

.vscode/settings.json

@@ -112,7 +112,19 @@
     "strstream": "cpp",
     "cfenv": "cpp",
     "typeindex": "cpp",
-    "*.ipp": "cpp"
+    "*.ipp": "cpp",
+    "xlocmes": "cpp",
+    "xlocmon": "cpp",
+    "xlocnum": "cpp",
+    "xloctime": "cpp",
+    "charconv": "cpp",
+    "xfacet": "cpp",
+    "xiosbase": "cpp",
+    "xlocale": "cpp",
+    "xlocbuf": "cpp",
+    "xlocinfo": "cpp",
+    "xmemory": "cpp",
+    "xtr1common": "cpp"
   },
   "search.exclude": {
     "**/node_modules": true,

aimbots-src/.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "optional": "cpp"
+    }
+}

aimbots-src/build_tools/extract_robot_type.py

@@ -20,11 +20,12 @@
 ROBOT_TYPE_FILE     = "robot-type/robot_type.hpp"
 VALID_ROBOT_TYPES   = [ "STANDARD_2023",
                         "STANDARD_BLASTOISE",
-                        "STANDARD_WARTORTLE",
                         "STANDARD_SQUIRTLE",
+                        "STANDARD_2025",
                         "AERIAL",
                         "ENGINEER",
-                        "SENTRY",
+                        "SENTRY_BRAVO",
+                        "SENTRY_SWERVE",
                         "HERO",
                         "DART",
                         "CVTEST_HAN",

aimbots-src/src/communicators/I2C/power_com.hpp

@@ -0,0 +1,18 @@
+//for reading the power limiting board for robots
+//TODO fix targets, currently just not defined for engineer
+#ifndef TARGET_ENGINEER
+#include "modm/architecture/interface/i2c_device.hpp"
+#include "modm/architecture/interface/register.hpp"
+#include "modm/processing/protothread.hpp"
+#include "modm/processing/resumable.hpp"
+
+namespace src::Communication {
+    class PowerComm : public tap::communication::serial::DJISerial{
+        public:
+
+    }
+}
+
+
+
+#endif

aimbots-src/src/communicators/I2C/power_com_data.hpp

@@ -0,0 +1,16 @@
+#ifndef TARGET_ENGINEER
+
+#include "tap/algorithms/math_user_utils.hpp"
+
+#include "modm/architecture/interface/register.hpp"
+#include "modm/math/utils.hpp"
+
+namespace src::communicators::I2C::power_comm {
+enum Register : uint8_t{
+    DEVICE_ADRESS = 0x6A,
+    WHO_AM_I = 0x0F,
+
+}
+}
+
+#endif

aimbots-src/src/communicators/ref_custom_serial/communication_message.hpp

@@ -4,7 +4,7 @@
 #ifdef REF_COMM_COMPATIBLE
 
 namespace src::Communication {
-#ifdef TARGET_SENTRY
+#ifdef ALL_SENTRIES
 struct robot_state_message_team {
     /* data */
     uint16_t standardX, standardY, heroX, heroY, sentryX, sentryY;
@@ -26,7 +26,7 @@ struct robot_state_message_enemy {
 #endif
 
 enum class MessageType : uint8_t {
-#ifdef TARGET_SENTRY
+#ifdef ALL_SENTRIES
     TEAM_MESSAGE_STANDARD,
     TEAM_MESSAGE_HERO,
     TEAM_MESSAGE_SENTRY,

aimbots-src/src/communicators/ref_custom_serial/communication_request_commnads.hpp

@@ -2,17 +2,18 @@
 
 #include "tap/control/command.hpp"
 
-//this doesn't exist
-// #include "communication_outbound_subsystem.hpp"
+// this doesn't exist
+//  #include "communication_outbound_subsystem.hpp"
 
 #ifdef REF_COMM_COMPATIBLE
 
 namespace src::Communication {
 
-#ifdef TARGET_SENTRY
+#ifdef ALL_SENTRIES
 class TeamMessageStandard : public tap::control::Command {
 public:
-    TeamMessageStandard(CommunicationOutBoundSubsystem &communicationOutBoundSubsystem) : sub(communicationOutBoundSubsystem) {
+    TeamMessageStandard(CommunicationOutBoundSubsystem &communicationOutBoundSubsystem)
+        : sub(communicationOutBoundSubsystem) {
         this->addSubsyemRequirement(&communicationOutBoundSubsystem);
     }
 
@@ -47,7 +48,8 @@ class TeamMessageHero : public tap::control::Command {
 #else
 class CommunicationMessage : public tap::control::Command {
 public:
-    communicationMessage(CommunicationOutBoundSubsystem &communicationOutBoundSubsystem) : sub(communicationOutBoundSubsystem) {
+    communicationMessage(CommunicationOutBoundSubsystem &communicationOutBoundSubsystem)
+        : sub(communicationOutBoundSubsystem) {
         this->addSubsyemRequirement(&communicationOutBoundSubsystem);
     }
 
@@ -82,4 +84,4 @@ class EnemyStateMessage : public tap::control::Command {
 #endif
 }  // namespace src::Communication
 
-#endif //#ifdef REF_COMM_COMPATIBLE
+#endif  //#ifdef REF_COMM_COMPATIBLE

aimbots-src/src/communicators/ref_custom_serial/communication_request_handler.cpp

@@ -18,10 +18,11 @@ namespace src::Communication {
 CommunicationRequestHandler::CommunicationRequestHandler(src::Drivers* drivers) : drivers(drivers) {}
 
 void CommunicationRequestHandler::operator()(const tap::communication::serial::DJISerial::ReceivedSerialMessage& message) {
-    MessageType type = static_cast<MessageType>(message.data[sizeof(tap::communication::serial::RefSerialData::Tx::InteractiveHeader)]);
+    MessageType type =
+        static_cast<MessageType>(message.data[sizeof(tap::communication::serial::RefSerialData::Tx::InteractiveHeader)]);
 
     switch (type) {
-#ifdef TARGET_SENTRY
+#ifdef ALL_SENTRIES
         // case MessageType::TEAM_MESSAGE_STANDARD:
         //     if (teamMesssageHandlerStandard != nullptr) {
         //         updateRobotStateStandard();
@@ -51,4 +52,4 @@ void CommunicationRequestHandler::operator()(const tap::communication::serial::D
 
 }  // namespace src::Communication
 
-#endif // #ifdef REF_COMM_COMPATIBLE
+#endif  // #ifdef REF_COMM_COMPATIBLE

aimbots-src/src/communicators/ref_custom_serial/communication_request_handler.hpp

@@ -3,10 +3,10 @@
 #include "tap/communication/serial/ref_serial.hpp"
 // #include "tap/communication/serial/ref_serial_transmitter.hpp"
 
-#include "modm/architecture/interface/register.hpp"
-#include "modm/processing/protothread.hpp"
 #include "informants/robot-states/robot_state.hpp"
 #include "informants/robot-states/robot_state_interface.hpp"
+#include "modm/architecture/interface/register.hpp"
+#include "modm/processing/protothread.hpp"
 
 #include "drivers.hpp"
 
@@ -23,7 +23,7 @@ class CommunicationRequestHandler : public tap::communication::serial::RefSerial
     bool recive();
 
     void updateStates();
-#ifdef TARGET_SENTRY
+#ifdef ALL_SENTRIES
     void attachTeamMessageHandlerStandard(MessageReceivedCallback message) { teamMesssageHandlerStandard = message; }
     void attachTeamMessageHandlerHero(MessageReceivedCallback message) { teamMesssageHandlerHero = message; }
 
@@ -34,7 +34,7 @@ class CommunicationRequestHandler : public tap::communication::serial::RefSerial
 private:
     src::Drivers* drivers;
 
-#ifdef TARGET_SENTRY
+#ifdef ALL_SENTRIES
     MessageReceivedCallback teamMesssageHandlerStandard = nullptr;
     MessageReceivedCallback teamMesssageHandlerHero = nullptr;
     MessageReceivedCallback teamMessageHandlerSentry = nullptr;
@@ -43,6 +43,6 @@ class CommunicationRequestHandler : public tap::communication::serial::RefSerial
     MessageReceivedCallback enemyRobotStateHandler = nullptr;
 #endif
 };
-}  // namespace src::robotStates
+}  // namespace src::Communication
 
-#endif // #ifdef REF_COMM_COMPATIBLE
+#endif  // #ifdef REF_COMM_COMPATIBLE

aimbots-src/src/communicators/ref_custom_serial/communication_request_transmiter.cpp

@@ -14,7 +14,9 @@
 #ifdef REF_COMM_COMPATIBLE
 
 namespace src::Communication {
-CommunicationRequestTransmiter::CommunicationRequestTransmiter(src::Drivers* drivers) : drivers(drivers), refSerial(drivers) {}
+CommunicationRequestTransmiter::CommunicationRequestTransmiter(src::Drivers* drivers)
+    : drivers(drivers),
+      refSerial(drivers) {}
 
 bool CommunicationRequestTransmiter::send() {
     PT_BEGIN();
@@ -27,7 +29,8 @@ bool CommunicationRequestTransmiter::send() {
             PT_CALL(refSerial.sendRobotToRobotMsg(
                 &robotToRobotMessage,
                 SENTRY_REQUEST_ROBOT_ID,
-                drivers->refSerial.getRobotIdBasedOnCurrentRobotTeam(tap::communication::serial::RefSerialData::RobotId::BLUE_SENTINEL),
+                drivers->refSerial.getRobotIdBasedOnCurrentRobotTeam(
+                    tap::communication::serial::RefSerialData::RobotId::BLUE_SENTINEL),
                 1));
         } else {
             PT_YIELD();
@@ -43,7 +46,7 @@ bool CommunicationRequestTransmiter::send() {
 void CommunicationRequestTransmiter::updateQue(MessageType type) {
     queuedMessageType |= (1 << static_cast<uint8_t>(type));
 
-    // #ifdef TARGET_SENTRY
+    // #ifdef ALL_SENTRIES
     //     // Team color = drivers->refSerial->getRobotData().robotID == 7 ? Team::RED : Team::BLUE;
     //     Team color = Team::RED;
     //     // Team color = drivers->getRobotData->robotData.robotId == RED_SENTINEL ? Team::RED : Team::BLUE;
@@ -54,4 +57,4 @@ void CommunicationRequestTransmiter::updateQue(MessageType type) {
 
 }  // namespace src::Communication
 
-#endif // #ifdef REF_COMM_COMPATIBLE
+#endif  // #ifdef REF_COMM_COMPATIBLE

aimbots-src/src/communicators/ref_custom_serial/communication_request_transmiter.hpp

@@ -28,10 +28,10 @@ class CommunicationRequestTransmiter : public modm::pt::Protothread {
 
     // RobotStates* robotStateInterface;
 
-    // #ifdef TARGET_SENTRY
+    // #ifdef ALL_SENTRIES
     static constexpr uint16_t SENTRY_REQUEST_ROBOT_ID = 0x200;
 
-#ifdef TARGET_SENTRY
+#ifdef ALL_SENTRIES
     MessageType lastSentMessage = MessageType::TEAM_MESSAGE_STANDARD;
 #else
     MessageType lastSentMessage = MessageType::ROBOT_STATE;
@@ -51,7 +51,8 @@ class CommunicationRequestTransmiter : public modm::pt::Protothread {
 
         // otherwise, iterate through message types until you find one that is queued
         auto nextMessageType = [](MessageType type) {
-            return static_cast<MessageType>((static_cast<uint8_t>(type) + 1) % static_cast<uint8_t>(MessageType::NUM_MESSAGE_TYPES));
+            return static_cast<MessageType>(
+                (static_cast<uint8_t>(type) + 1) % static_cast<uint8_t>(MessageType::NUM_MESSAGE_TYPES));
         };
 
         lastSentMessage = nextMessageType(lastSentMessage);
@@ -72,4 +73,4 @@ class CommunicationRequestTransmiter : public modm::pt::Protothread {
 
 }  // namespace src::Communication
 
-#endif // #ifdef REF_COMM_COMPATIBLE
+#endif  // #ifdef REF_COMM_COMPATIBLE

aimbots-src/src/communicators/ref_custom_serial/communication_response_subsytem.cpp

@@ -30,7 +30,7 @@ uint8_t value2;
 uint8_t value3;
 uint8_t value4;
 bool CommunicationResponseSubsytem::run() {
-#ifdef TARGET_SENTRY
+#ifdef ALL_SENTRIES
     // ms = states.createMessage();
     // uint16_t sx = ms.standardX;
     test = static_cast<unsigned char>(rand() % 0xff);
@@ -68,7 +68,8 @@ bool CommunicationResponseSubsytem::run() {
         this->robotToRobotMessage.dataAndCRC16[1] = value2;  // static_cast<uint8_t>(sx);
         this->robotToRobotMessage.dataAndCRC16[2] = value3;  // static_cast<uint8_t>(sx);
         this->robotToRobotMessage.dataAndCRC16[3] = value4;  // static_cast<uint8_t>(sy);
-        // this->robotToRobotMessage.dataAndCRC16[4] = static_cast<unsigned char>(rand() % 0xff);  // static_cast<uint8_t>(sy);
+        // this->robotToRobotMessage.dataAndCRC16[4] = static_cast<unsigned char>(rand() % 0xff);  //
+        // static_cast<uint8_t>(sy);
 
         // if (this->sentryMoving != this->getDriveStatus()) {
         //     this->sentryMoving = this->getDriveStatus();
@@ -85,7 +86,8 @@ bool CommunicationResponseSubsytem::run() {
         PT_CALL(this->refSerialTransmitter.sendRobotToRobotMsg(
             &this->robotToRobotMessage,
             SENTRY_RESPONSE_MESSAGE_ID,
-            drivers.refSerial.getRobotIdBasedOnCurrentRobotTeam(tap::communication::serial::RefSerialData::RobotId::BLUE_HERO),
+            drivers.refSerial.getRobotIdBasedOnCurrentRobotTeam(
+                tap::communication::serial::RefSerialData::RobotId::BLUE_HERO),
             4));
         // }
 
@@ -107,4 +109,4 @@ bool CommunicationResponseSubsytem::run() {
 
 }  // namespace src::Communication
 
-#endif // #ifdef REF_COMM_COMPATIBLE
+#endif  // #ifdef REF_COMM_COMPATIBLE

aimbots-src/src/drivers.hpp

@@ -27,6 +27,7 @@
 // #include "informants/ultrasonic_distance_sensor.hpp"
 #include "communicators/devboard/turret_can_communicator.hpp"
 #include "communicators/jetson/jetson_communicator.hpp"
+//#include "communicators/INA260/INA260_communicator.hpp"
 #include "utils/music/jukebox_player.hpp"
 #include "utils/nxp_imu/magnetometer/ist8310.hpp"
 #include "utils/tools/robot_specific_defines.hpp"
@@ -44,6 +45,7 @@ class Drivers : public tap::Drivers {
           controlOperatorInterface(this),
           magnetometer(),
           cvCommunicator(this),
+      //    powerCommunicator(this),
           kinematicInformant(this),
           hitTracker(this),
           turretCommunicator(this, CANBus::CAN_BUS1),
@@ -53,6 +55,7 @@ class Drivers : public tap::Drivers {
     Control::OperatorInterface controlOperatorInterface;
     utils::Ist8310 magnetometer;
     Informants::Vision::JetsonCommunicator cvCommunicator;
+  //  Informants::INA260::INA260Communicator powerCommunicator;
     Informants::KinematicInformant kinematicInformant;
     Informants::HitTracker hitTracker;
     Informants::TurretComms::TurretCommunicator turretCommunicator;

aimbots-src/src/informants/imu/calibrate_imu_command.cpp

@@ -59,9 +59,9 @@ void IMUCalibrateCommand::execute() {
 
             if (gimbalController.allOnlineYawControllersSettled(modm::toRadian(1.0f), 1000) &&
                 gimbalController.allOnlinePitchControllersSettled(modm::toRadian(1.0f), 1000)) {
-#ifdef TURRET_IMU
-                drivers->turretCommunicator.requestTurretIMUCalibrate();
-#endif
+// #ifdef TURRET_IMU
+//                 drivers->turretCommunicator.requestTurretIMUCalibrate();
+// #endif
 #ifndef TARGET_TURRET
                 drivers->kinematicInformant.recalibrateIMU(
                     {CIMU_CALIBRATION_EULER_X, CIMU_CALIBRATION_EULER_Y, CIMU_CALIBRATION_EULER_Z});