valor::sensors::GrappleSensor Class Reference

Specific implementation of the LaserProximitySensor for Grapple Robotics. More...

#include <valkyrie/sensors/GrappleSensor.h>

Inheritance diagram for valor::sensors::GrappleSensor:

Public Member Functions
	GrappleSensor (int canID)
	Construct a new GrappleSensor object.
bool	IsHealthy () const override
	Represents whether the sensor data is healthy.
Public Member Functions inherited from valor::sensors::LaserProximitySensor
	LaserProximitySensor ()
	Construct a new LaserProximitySensor object.
void	SetThresholdDistance (units::millimeter_t threshold)
	Set the threshold distance for triggering the sensor.
units::millimeter_t	GetThresholdDistance () const
	Returns 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::sensors::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 () const
	Get the current sensor state.
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()
	Default construct an uninitialized 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	SetPeriodicLevel (LogLevel level)
	Set the logging level for LoggablePeriodic.
template<typename T>
T	WriteLog (std::string_view field, const T &data, LogLevel level=LogLevel::Normal)
	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.
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::sensors::LidarSensor
	LidarSensor ()
	Construct a new LidarSensor object.
void	SetMaxDistance (units::millimeter_t dist)
units::millimeter_t	GetMaxDistance () const
void	SetDefaultDistance (units::millimeter_t dist)
units::millimeter_t	GetDefaultDistance () const
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::sensors::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 () const
	Get the current sensor state.
Public Member Functions inherited from valor::sensors::DebounceSensor
	DebounceSensor ()
	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::sensors::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 () const
	Get the current sensor state.

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
static constexpr Loggable &	GetRoot ()
Static Public Attributes inherited from valor::sensors::BaseSensorCore
static constexpr units::millisecond_t	LOOP_PERIOD = frc::TimedRobot::kDefaultPeriod / 2
Protected Member Functions inherited from valor::sensors::LaserProximitySensor
void	Calculate () override
	Perform proximity sensor-specific calculations.
void	Refresh () override
	Refresh the sensor state.
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.
Protected Member Functions inherited from valor::sensors::LidarSensor
void	Calculate () override
	Perform Lidar-specific calculations.
Protected Attributes inherited from valor::sensors::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
Protected Attributes inherited from valor::sensors::LidarSensor
std::unique_ptr< SimState >	simState
Protected Attributes inherited from valor::sensors::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
Protected Attributes inherited from valor::sensors::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

Detailed Description

Specific implementation of the LaserProximitySensor for Grapple Robotics.

This class integrates the Grapple Robotics LidarCAN device with the LaserProximitySensor framework, providing additional functionality specific to the Grapple sensor.

Constructor & Destructor Documentation

GrappleSensor()

valor::sensors::GrappleSensor::GrappleSensor

(

int

canID

)

Construct a new GrappleSensor object.

Parameters

robot	Reference to the robot, used to schedule the calculate method.
canId	CAN ID of the Grapple sensor device.

Member Function Documentation

IsHealthy()

bool valor::sensors::GrappleSensor::IsHealthy ( ) const

overridevirtual

Represents whether the sensor data is healthy.

If the data is not healthy, LidarSensor will return the default distance instead of the sensor's getter

Reimplemented from valor::sensors::LidarSensor.

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

• src/main/include/valkyrie/sensors/GrappleSensor.h