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Merged
joe-spall merged 4 commits into from
Jul 18, 2025
Merged

Dev/nick/dribbler mult control #27

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a0d6ed2
add image hash fields
Jul 5, 2025
c24fd92
add ErrorTelemetry packet
Jul 16, 2025
0fc77ee
add dribbler_multiplier
Jul 17, 2025
d63b48d
Merge branch 'comp/2025' into dev/nick/dribbler_mult_control
joe-spall Jul 18, 2025
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3 changes: 2 additions & 1 deletion ateam-common-packets/include/basic_control.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,8 @@ typedef struct BasicControl {
uint32_t body_vel_controls_enabled : 1;
uint32_t wheel_vel_control_enabled : 1;
uint32_t wheel_torque_control_enabled : 1;
uint32_t _reserved : 17;
uint32_t dribbler_multiplier : 8;
uint32_t _reserved : 9;
uint32_t play_song : 8;

float vel_x_linear; // m/s
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20 changes: 20 additions & 0 deletions ateam-common-packets/include/error_telemetry.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
/**
* @file error_telemetry.h
* @author Nicholas Witten / Joseph Spall
* @brief Simple error messages over radio
* @version 0.1
*
* @copyright Copyright (c) 2022
*
*/

#pragma once

#include "common.h"

typedef struct ErrorTelemetry {
uint32_t timestamp;
unsigned char error_message[60];
} ErrorTelemetry;
assert_size(ErrorTelemetry, 64);

3 changes: 2 additions & 1 deletion ateam-common-packets/include/kicker.h
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Expand Up @@ -18,7 +18,8 @@ typedef struct KickerControl {
uint32_t telemetry_enabled: 1;
uint32_t enable_charging: 1;
uint32_t request_power_down: 1;
// 29 bits reserved
uint32_t dribbler_mult: 8;
// 21 bits reserved

KickRequest kick_request;
float kick_speed;
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3 changes: 3 additions & 0 deletions ateam-common-packets/include/radio.h
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Expand Up @@ -14,6 +14,7 @@
#include "hello_data.h"
#include "basic_control.h"
#include "basic_telemetry.h"
#include "error_telemetry.h"
#include "extended_telemetry.h"
#include "power.h"
#include "robot_parameters.h"
Expand All @@ -30,6 +31,7 @@ typedef enum CommandCode : uint8_t {
CC_TELEMETRY = 102,
CC_CONTROL_DEBUG_TELEMETRY = 103,
CC_ROBOT_PARAMETER_COMMAND = 104,
CC_ERROR_TELEMETRY = 105,
CC_CONTROL = 201,
CC_HELLO_RESP = 202,
} CommandCode;
Expand Down Expand Up @@ -69,6 +71,7 @@ typedef struct RadioPacket {
BasicControl control;
BasicTelemetry telemetry;
ExtendedTelemetry control_debug_telemetry;
ErrorTelemetry error_telemetry;
ParameterCommand robot_parameter_command;
} data __attribute__((aligned (4)));

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9 changes: 9 additions & 0 deletions ateam-common-packets/rust-lib/src/radio.rs
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Expand Up @@ -11,4 +11,13 @@ pub enum TelemetryPacket {
Basic(crate::bindings::BasicTelemetry),
Extended(crate::bindings::ExtendedTelemetry),
ParameterCommandResponse(crate::bindings::ParameterCommand),
ErrorTelemetry(crate::bindings::ErrorTelemetry),
}

#[derive(Copy, Clone)]
pub enum ParameterType {
Basic(crate::bindings::BasicTelemetry),
Extended(crate::bindings::ExtendedTelemetry),
ParameterCommandResponse(crate::bindings::ParameterCommand),
ErrorTelemetry(crate::bindings::ErrorTelemetry),
}
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