Classes
struct	SystemInfo
	Struct to hold important system information. More...

Functions
void	onOdriveCanMessage (const CanMsg &msg)

void	endEffMirrorUpdate ()
	: Links end effector positions together

void	jointMirrorUpdate ()
	: Links joints states

void	enterState (ControllerState state)
	Process enter state requests.

void	exitState (ControllerState state)
	Process exit state requests.

void	printEverything ()
	Print statements, set at a separate frequency than others.

bool	shouldError ()
	Check if there is a critical error that should prompt a transition to the error state.

void	doReboot ()
	Reboot the Teensy.

void	openRelays ()
	Open relays to disable motors.

void	closeRelays ()
	Close relays to enable motors.

void	request_disable ()
	Request estop from odrives.

void	request_enable ()
	Process enable request, clear errors.

bool	isInitialized ()
	Check if the motors are in the initial position.

bool	isSynced ()
	Check if the motors are in sync.

void	ledUpdate ()
	Update the LED strip and on board LED based on the current state, timeouts, and mirror states.

void	doState ()
	Handles the current state of the controller.

void	changeState ()
	Evaluates state transitions based on current state and system information.

void	updateSystemInfo ()
	Update system information struct with new CAN information.

void	updateAndSendSystemInfo ()
	Send the end effector position over CAN to the other teensy.

void	checkDeadman ()
	Check the deadman switch state.

void	setup ()
	setup function before main loop

void	loop ()
	Main loop.

Variables
VirtualTimerGroup	timer_group {}

VirtualTimerGroup	micro_timer_group {}

TeensyCAN< 1 >	teensy_can

uint32_t	last_received_time

FlexCAN_T4< CAN2, RX_SIZE_256, TX_SIZE_256 >	odrive_can0

FlexCAN_T4< CAN3, RX_SIZE_256, TX_SIZE_256 >	odrive_can1

ODriveUserData	odrv0_user_data {}

ODriveUserData	odrv1_user_data {}

OdriveController< CAN2 >	odrv0 = OdriveController<CAN2>(odrive_can0, ODRIVE0_ID, odrv0_user_data)
	: Odrive for first joint

OdriveController< CAN3 >	odrv1 = OdriveController<CAN3>(odrive_can1, ODRIVE1_ID, odrv1_user_data)
	: Odrive for second joint

CommsController< ODRV_CAN0, ODRV_CAN1 >	comms_controller

LowPassFilter	filter = LowPassFilter(20.0)

MovingAverageFilter	filter_phi_0 {1}

MovingAverageFilter	filter_phi_1 {1}

MovingAverageFilter	filter_phi_dot_0 {1}

MovingAverageFilter	filter_phi_dot_1 {1}

std::vector< float >	joint_thetas = {0.0f, 0.0f}

std::vector< float >	joint_vels = {0.0f, 0.0f}

std::vector< float >	pos = {0.0f, 0.0f}

std::vector< float >	vel = {0.0f, 0.0f}

SystemInfo	sys_inf = SystemInfo(comms_controller)

ControllerState	controller_state = ControllerState::RUNNING

Function Documentation

◆ changeState()

void changeState ( )

Evaluates state transitions based on current state and system information.

Definition at line 361 of file main.cpp.

References comms_controller, controller_state, SystemInfo::deadman_switch_pressed, enterState(), ERROR, exitState(), INITIALIZING, isInitialized(), isSynced(), SystemInfo::mirror_teensy_state, printEverything(), READY, RUNNING, shouldError(), and sys_inf.

Referenced by setup().

◆ checkDeadman()

void checkDeadman ( )

Check the deadman switch state.

Definition at line 668 of file main.cpp.

References comms_controller, SystemInfo::deadman_switch_pressed, and sys_inf.

Referenced by setup().

◆ closeRelays()

void closeRelays ( )

Close relays to enable motors.

Definition at line 195 of file main.cpp.

Referenced by exitState().

◆ doReboot()

void doReboot ( )

Reboot the Teensy.

Definition at line 177 of file main.cpp.

Referenced by enterState().

◆ doState()

void doState ( )

Handles the current state of the controller.

Definition at line 318 of file main.cpp.

References controller_state, endEffMirrorUpdate(), ERROR, INITIALIZING, jointMirrorUpdate(), SystemInfo::odrive0_heartbeat_timeout, SystemInfo::odrive1_heartbeat_timeout, openRelays(), READY, RUNNING, and sys_inf.

Referenced by setup().

◆ endEffMirrorUpdate()

void endEffMirrorUpdate ( )

: Links end effector positions together

Note: : Used for robotic and haptic fingers

Definition at line 599 of file main.cpp.

References comms_controller, joint_thetas, limit(), pos, soft_limit_torques(), spatial_jacobian(), tau_to_torque(), and vel.

Referenced by doState().

◆ enterState()

void enterState ( ControllerState state )

Process enter state requests.

Parameters

state - The state to enter

Definition at line 448 of file main.cpp.

References comms_controller, doReboot(), ERROR, INITIALIZING, SystemInfo::odrive0_heartbeat_timeout, SystemInfo::odrive1_heartbeat_timeout, READY, request_disable(), request_enable(), RUNNING, sys_inf, and SystemInfo::teensy_heartbeat_timeout.

Referenced by changeState(), and setup().

◆ exitState()

void exitState ( ControllerState state )

Process exit state requests.

Parameters

state - The state to exit

Definition at line 474 of file main.cpp.

References closeRelays(), comms_controller, ERROR, INITIALIZING, READY, and RUNNING.

Referenced by changeState(), and setup().

◆ isInitialized()

bool isInitialized ( )

Check if the motors are in the initial position.

Returns: true if motors are in initial position; false if motors are not in initial position

Definition at line 226 of file main.cpp.

Referenced by changeState().

◆ isSynced()

bool isSynced ( )

Check if the motors are in sync.

Returns: true if motors are in sync; false if motors are not in sync

Definition at line 239 of file main.cpp.

References comms_controller, float_close_compare(), joint_thetas, and pos.

Referenced by changeState().

◆ jointMirrorUpdate()

void jointMirrorUpdate ( )

: Links joints states

Note: : Used for robotic and haptic thumb

Definition at line 562 of file main.cpp.

References comms_controller, joint_thetas, joint_vels, limit(), soft_limit_torques(), and tau_to_torque().

Referenced by doState().

◆ ledUpdate()

void ledUpdate ( )

Update the LED strip and on board LED based on the current state, timeouts, and mirror states.

Definition at line 260 of file main.cpp.

References blue, controller_state, cyan, ERROR, green, INITIALIZING, last_received_time, magneta, SystemInfo::odrive0_heartbeat_timeout, SystemInfo::odrive1_heartbeat_timeout, READY, red, RUNNING, setColor(), sys_inf, SystemInfo::teensy_heartbeat_timeout, and yellow.

Referenced by setup().

◆ loop()

void loop ( )

Main loop.

Definition at line 749 of file main.cpp.

References comms_controller, micro_timer_group, teensy_can, and timer_group.

◆ onOdriveCanMessage()

void onOdriveCanMessage ( const CanMsg & msg )

Definition at line 49 of file main.cpp.

References odrv0, odrv1, and OdriveController< CAN >::odrv_.

◆ openRelays()

void openRelays ( )

Open relays to disable motors.

Definition at line 186 of file main.cpp.

Referenced by doState().

◆ printEverything()

void printEverything ( )

Print statements, set at a separate frequency than others.

Definition at line 110 of file main.cpp.

References comms_controller, joint_thetas, joint_vels, pos, and vel.

Referenced by changeState(), and setup().

◆ request_disable()

void request_disable ( )

Request estop from odrives.

Definition at line 204 of file main.cpp.

References comms_controller.

Referenced by enterState().

◆ request_enable()

void request_enable ( )

Process enable request, clear errors.

Definition at line 212 of file main.cpp.

References clear_safe_errors(), and comms_controller.

Referenced by enterState().

◆ setup()

void setup ( )

setup function before main loop

Definition at line 684 of file main.cpp.

References allUnitTests(), changeState(), checkDeadman(), comms_controller, controller_state, doState(), enterState(), ERROR, exitState(), INITIALIZING, ledSetup(), ledUpdate(), micro_timer_group, printEverything(), teensy_can, timer_group, updateAndSendSystemInfo(), and updateSystemInfo().

◆ shouldError()

bool shouldError ( )

Check if there is a critical error that should prompt a transition to the error state.

Returns: true if there is a critical error; false if there is no critical error to prompt transition to error state

Definition at line 153 of file main.cpp.

References clear_safe_errors(), comms_controller, SystemInfo::estop_enabled, ODriveUserData::last_heartbeat, SystemInfo::odrive0_heartbeat_timeout, SystemInfo::odrive1_heartbeat_timeout, odrv0_user_data, odrv1_user_data, SystemInfo::relays_open, sys_inf, and SystemInfo::teensy_heartbeat_timeout.

Referenced by changeState().

◆ updateAndSendSystemInfo()

void updateAndSendSystemInfo ( )

Send the end effector position over CAN to the other teensy.

Definition at line 500 of file main.cpp.

References comms_controller, convert_angular_units(), filter_phi_0, filter_phi_1, filter_phi_dot_0, filter_phi_dot_1, forward_kinematics(), joint_thetas, joint_vels, ODriveUserData::last_feedback, motors_to_joints(), odrv0_user_data, odrv1_user_data, phi_to_theta(), pos, RADIANS, REVS, spatial_jacobian(), MovingAverageFilter::update(), and vel.

Referenced by setup().

◆ updateSystemInfo()

void updateSystemInfo ( )

Update system information struct with new CAN information.

Definition at line 493 of file main.cpp.

References comms_controller, SystemInfo::mirror_teensy_state, sys_inf, and SystemInfo::teensy_heartbeat_timeout.

Referenced by setup().

Variable Documentation

◆ comms_controller

CommsController<ODRV_CAN0, ODRV_CAN1> comms_controller

Initial value:

{micro_timer_group,
                                                       odrive_can0,
                                                       odrive_can1,
                                                       odrv0,
                                                       odrv1,
                                                       onOdriveCanMessage,
                                                       teensy_can}