Combines Lidar distance measurements and debounce logic. More...

#include <LaserProximitySensor.h>

Inheritance diagram for valor::LaserProximitySensor:

Public Member Functions
	LaserProximitySensor (frc::TimedRobot &robot)
	Construct a new LaserProximitySensor object.

void	setThresholdDistance (units::millimeter_t threshold)
	Set the threshold distance for triggering the sensor.

void	reset () override
	Reset the sensor state, including Lidar and debounce logic.

LaserProximityData	get ()
	Get the current sensor data.

void	setGetter (std::function< units::millimeter_t()> getter)
	Set the getter function for the Lidar sensor.

Public Member Functions inherited from valor::BaseSensor< LaserProximityData >
void	setGetter (std::function< LaserProximityData()> _lambda)
	Set the lambda function to fetch sensor data.

void	applyPostProcessing (std::function< LaserProximityData(LaserProximityData)> func)
	Set a post-processing function for sensor data.

LaserProximityData	get ()
	Get the current sensor state.

Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.

void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.

void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.

template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)

template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)

template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Public Member Functions inherited from valor::LidarSensor
	LidarSensor (frc::TimedRobot &robot)
	Construct a new LidarSensor object.

units::millimeter_t	getMaxDistance ()
	Get the maximum distance threshold for the Lidar sensor.

void	setMaxDistance (units::millimeter_t maxDistance)
	Set the maximum distance threshold for the Lidar sensor.

void	setupSim (std::function< frc::Pose2d()> robotPoseGetter, frc::Transform2d sensorPosition, std::vector< sim::FieldFeature > features)

void	setGetter (std::function< units::millimeter_t()> getter)

Public Member Functions inherited from valor::BaseSensor< units::millimeter_t >
void	setGetter (std::function< units::millimeter_t()> _lambda)
	Set the lambda function to fetch sensor data.

void	applyPostProcessing (std::function< units::millimeter_t(units::millimeter_t)> func)
	Set a post-processing function for sensor data.

units::millimeter_t	get ()
	Get the current sensor state.

Public Member Functions inherited from valor::DebounceSensor
	DebounceSensor (frc::TimedRobot &robot)
	Construct a new DebounceSensor object.

void	setEdgeCallback (std::function< void()> _lambda)
	Set a callback function for detecting any edge (rising or falling).

void	setRisingEdgeCallback (std::function< void()> _lambda)
	Set a callback function for detecting a rising edge.

void	setFallingEdgeCallback (std::function< void()> _lambda)
	Set a callback function for detecting a falling edge.

Public Member Functions inherited from valor::BaseSensor< bool >
void	setGetter (std::function< bool()> _lambda)
	Set the lambda function to fetch sensor data.

void	applyPostProcessing (std::function< bool(bool)> func)
	Set a post-processing function for sensor data.

bool	get ()
	Get the current sensor state.

Protected Member Functions
void	calculate () override
	Perform proximity sensor-specific calculations.

void	refresh () override
	Refresh the sensor state.

Protected Member Functions inherited from valor::BaseSensor< LaserProximityData >
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.

Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.

	Loggable ()
	Default construct an uninitialized Loggable.

virtual	~Loggable ()=default
	Virtual destructor.

virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.

template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.

template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Protected Member Functions inherited from valor::LidarSensor
void	calculate () override
	Perform Lidar-specific calculations.

Protected Member Functions inherited from valor::BaseSensor< units::millimeter_t >
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.

Protected Member Functions inherited from valor::BaseSensor< bool >
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()

Protected Attributes inherited from valor::BaseSensor< LaserProximityData >
std::function< LaserProximityData()>	sensorLambda
	Lambda function to fetch sensor data.

std::function< LaserProximityData(LaserProximityData)>	postProcessor
	Lambda function to post-process sensor data.

LaserProximityData	prevState
	Previous and current sensor states.

LaserProximityData	currState

frc::Timer	profiler

Protected Attributes inherited from valor::LidarSensor
std::unique_ptr< SimState >	simState

Protected Attributes inherited from valor::BaseSensor< units::millimeter_t >
std::function< units::millimeter_t()>	sensorLambda
	Lambda function to fetch sensor data.

std::function< units::millimeter_t(units::millimeter_t)>	postProcessor
	Lambda function to post-process sensor data.

units::millimeter_t	prevState
	Previous and current sensor states.

units::millimeter_t	currState

frc::Timer	profiler

Protected Attributes inherited from valor::BaseSensor< bool >
std::function< bool()>	sensorLambda
	Lambda function to fetch sensor data.

std::function< bool(bool)>	postProcessor
	Lambda function to post-process sensor data.

bool	prevState
	Previous and current sensor states.

bool	currState

frc::Timer	profiler

Detailed Description

Combines Lidar distance measurements and debounce logic.

This class integrates Lidar sensor data with debounce functionality to provide reliable proximity sensing.

Constructor & Destructor Documentation

◆ LaserProximitySensor()

valor::LaserProximitySensor::LaserProximitySensor ( frc::TimedRobot & robot )

explicit

Construct a new LaserProximitySensor object.

Parameters

robot Reference to the robot, used to schedule the calculate method.

Member Function Documentation

◆ calculate()

void valor::LaserProximitySensor::calculate ( )

overrideprotectedvirtual

Perform proximity sensor-specific calculations.

This method is called every 10ms and processes the sensor data.

Implements valor::BaseSensor< LaserProximityData >.

◆ get()

LaserProximityData valor::LaserProximitySensor::get ( )

inline

Get the current sensor data.

Returns: LaserProximityData The current sensor readings.

◆ refresh()

void valor::LaserProximitySensor::refresh ( )

overrideprotectedvirtual

Refresh the sensor state.

Updates prevState and currState by fetching new data using the lambda function. If a post-processing function is set, it is applied to the fetched data.

Reimplemented from valor::BaseSensor< LaserProximityData >.

◆ reset()

void valor::LaserProximitySensor::reset ( )

overridevirtual

Reset the sensor state, including Lidar and debounce logic.

Reimplemented from valor::BaseSensor< LaserProximityData >.

◆ setGetter()

void valor::LaserProximitySensor::setGetter ( std::function< units::millimeter_t()> getter )

Set the getter function for the Lidar sensor.

Parameters

getter Lambda function to fetch Lidar distance data.

◆ setThresholdDistance()

void valor::LaserProximitySensor::setThresholdDistance ( units::millimeter_t threshold )

Set the threshold distance for triggering the sensor.

Parameters

threshold Distance in millimeters.

The documentation for this class was generated from the following file:

src/main/include/valkyrie/sensors/LaserProximitySensor.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LaserProximitySensor()

Member Function Documentation

◆ calculate()

◆ get()

◆ refresh()

◆ reset()

◆ setGetter()

◆ setThresholdDistance()