valor::sensors::LaserProximitySensor Class Reference

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

#include <valkyrie/sensors/LaserProximitySensor.h>

Inheritance diagram for valor::sensors::LaserProximitySensor:

Public Member Functions
	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
virtual bool	IsHealthy () const
	Represents whether the sensor data is healthy.
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.

Protected Member Functions
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.

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 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

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::sensors::LaserProximitySensor::LaserProximitySensor

(

)

Construct a new LaserProximitySensor object.

Parameters

robot

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

Member Function Documentation

Calculate()

void valor::sensors::LaserProximitySensor::Calculate ( )

overrideprotectedvirtual

Perform proximity sensor-specific calculations.

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

Reimplemented from valor::sensors::BaseSensorCore.

Get()

LaserProximityData valor::sensors::LaserProximitySensor::Get ( )

inline

Get the current sensor data.

Returns

LaserProximityData The current sensor readings.

GetThresholdDistance()

units::millimeter_t valor::sensors::LaserProximitySensor::GetThresholdDistance ( ) const

inline

Returns the threshold distance for triggering the sensor.

Returns

The threshold distance of the sensor

Refresh()

void valor::sensors::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::sensors::BaseSensor< LaserProximityData >.

Reset()

void valor::sensors::LaserProximitySensor::Reset ( )

overridevirtual

Reset the sensor state, including Lidar and debounce logic.

Reimplemented from valor::sensors::BaseSensor< LaserProximityData >.

SetGetter()

void valor::sensors::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::sensors::LaserProximitySensor::SetThresholdDistance ( units::millimeter_t threshold )

inline

Set the threshold distance for triggering the sensor.

Parameters

threshold

Distance in millimeters.

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

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