Specific implementation of the Lidar Sensor for Grapple Robotics LidarCAN device. More...

#include <valkyrie/sensors/LidarSensor.h>

Inheritance diagram for valor::sensors::LidarSensor:

Classes
struct	SimState

Public Member Functions
	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 >
virtual void	Reset ()
	Reset the sensor state.
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.
void	Refresh () override
	Refresh the 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)

Protected Member Functions
void	Calculate () override
	Perform Lidar-specific calculations.
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 Attributes
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

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

Detailed Description

Specific implementation of the Lidar Sensor for Grapple Robotics LidarCAN device.

This class extends the BaseSensor class and provides functionality specific to the Lidar sensor. It allows for fetching distance measurements and setting a maximum distance threshold.

Constructor & Destructor Documentation

◆ LidarSensor()

valor::sensors::LidarSensor::LidarSensor ( )

Construct a new LidarSensor object.

Parameters

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

Member Function Documentation

◆ Calculate()

void valor::sensors::LidarSensor::Calculate ( )

overrideprotectedvirtual

Perform Lidar-specific calculations.

This method is called every 10ms and processes the sensor data fetched by the lambda function.

Reimplemented from valor::sensors::BaseSensorCore.

◆ IsHealthy()

virtual bool valor::sensors::LidarSensor::IsHealthy ( ) const

inlinevirtual

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 in valor::sensors::CANrangeSensor, and valor::sensors::GrappleSensor.

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

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

Classes

Public Member Functions

Protected Member Functions