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Development of vector-based control for Ackerman steering #9

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Development of vector-based control for Ackerman steering #9

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e01d0f3
Added version number
ann-im Sep 5, 2023
2cb6811
Omni version number
ann-im Sep 5, 2023
1c7826b
disabled comms timeout
ann-im Sep 5, 2023
cf259d5
Added gear shift logic to SetPower()
ann-im Sep 5, 2023
962ef2d
Added light command to Stop()
ann-im Sep 5, 2023
2880720
Added auto-set of speed limit with SetPower()
ann-im Sep 5, 2023
5c0f9bf
Nevermind that won't work because stop doesn't know steer angle
ann-im Sep 5, 2023
bbfdbb2
fixed speed limit data type
ann-im Sep 5, 2023
cedd831
reduced speed limit to a safe WASD speed
ann-im Sep 5, 2023
41806d3
made WASD steering usable
ann-im Sep 5, 2023
6e3b66f
hack to get steer sign correct
ann-im Sep 5, 2023
f19dd51
updated binary
ann-im Sep 5, 2023
2d32338
Merge branch 'main' into dev_ackermanVectors
ann-im Dec 19, 2023
9250443
Removed old binary ignore
ann-im Dec 19, 2023
68062c5
Attempt at SetPower using vectors
ann-im Dec 19, 2023
da4ba87
Genericized calculateSteerAngle
ann-im Dec 19, 2023
755bcff
Removed magic number
ann-im Dec 19, 2023
43d6d58
Fixed capitalization
ann-im Dec 19, 2023
619d0b0
updated modules (doesn't compile yet)
ann-im Dec 19, 2023
182442b
module tidy
ann-im Dec 19, 2023
58fe8eb
Fixed compilation with new RDK version
ann-im Dec 19, 2023
48d0bd1
added binary
ann-im Dec 19, 2023
40977f4
updated model info
ann-im Dec 19, 2023
8e734cf
Fixed 0 angular velocity case
ann-im Dec 19, 2023
a804eb1
didn't check compiling
ann-im Dec 19, 2023
26911ad
Fixes to angle
ann-im Dec 19, 2023
14109bb
Dumbed down steer angle calc
ann-im Dec 19, 2023
dff3f55
updated binary
ann-im Dec 19, 2023
d381009
Increased steering range
ann-im Dec 20, 2023
399487e
Adjusted CAN ID naming
ann-im Dec 20, 2023
3cd0618
Fixed steer mode naming
ann-im Dec 20, 2023
c4fc011
Added drive mode
ann-im Dec 20, 2023
0859be7
Switched SetPower to axle speed commands
ann-im Dec 20, 2023
77cdbae
Fixed steering being fixed at zero
ann-im Dec 20, 2023
93aa0f8
Commented out some debug messages
ann-im Dec 22, 2023
3b6b821
Made axle commands periodic
ann-im Dec 22, 2023
2cdb6fb
Added a steering offset
ann-im Dec 23, 2023
3b0fef4
Merge branch 'dev_ackermanVectors' of https://github.com/Intermode/vi…
ann-im Dec 23, 2023
aa8730a
Limited steering
ann-im Dec 24, 2023
27be83a
Fixed steering offset not getting used everywhere
ann-im Dec 24, 2023
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1 change: 0 additions & 1 deletion .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -129,6 +129,5 @@ dmypy.json
.pyre/

# Binaries and executables
modal_base_process/modal

module.tar.gz
Binary file renamed modalBase/modal → modalBase/bin/modal
100644 → 100755
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190 changes: 87 additions & 103 deletions modalBase/go.mod
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Expand Up @@ -3,160 +3,144 @@ module modal
go 1.18

require (
github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0
github.com/go-daq/canbus v0.2.0
github.com/golang/geo v0.0.0-20230421003525-6adc56603217
github.com/pkg/errors v0.9.1
go.viam.com/rdk v0.2.35
go.viam.com/utils v0.1.19
go.viam.com/rdk v0.16.0
go.viam.com/utils v0.1.55
golang.org/x/sys v0.15.0
)

require (
cloud.google.com/go v0.110.0 // indirect
cloud.google.com/go/compute v1.19.1 // indirect
cloud.google.com/go v0.111.0 // indirect
cloud.google.com/go/compute v1.23.3 // indirect
cloud.google.com/go/compute/metadata v0.2.3 // indirect
cloud.google.com/go/iam v1.0.0 // indirect
cloud.google.com/go/storage v1.30.1 // indirect
git.sr.ht/~sbinet/gg v0.3.1 // indirect
github.com/Masterminds/goutils v1.1.1 // indirect
github.com/Masterminds/semver v1.5.0 // indirect
github.com/Masterminds/sprig v2.22.0+incompatible // indirect
github.com/NYTimes/gziphandler v1.1.1 // indirect
cloud.google.com/go/iam v1.1.5 // indirect
cloud.google.com/go/storage v1.36.0 // indirect
git.sr.ht/~sbinet/gg v0.5.0 // indirect
github.com/a8m/envsubst v1.4.2 // indirect
github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e // indirect
github.com/benbjohnson/clock v1.3.1 // indirect
github.com/benbjohnson/clock v1.3.5 // indirect
github.com/bep/debounce v1.2.1 // indirect
github.com/blackjack/webcam v0.0.0-20230411204030-32744c21431f // indirect
github.com/bufbuild/protocompile v0.5.1 // indirect
github.com/bufbuild/protocompile v0.7.1 // indirect
github.com/campoy/embedmd v1.0.0 // indirect
github.com/cenkalti/backoff v2.2.1+incompatible // indirect
github.com/cenkalti/backoff/v4 v4.2.1 // indirect
github.com/davecgh/go-spew v1.1.1 // indirect
github.com/decred/dcrd/dcrec/secp256k1/v4 v4.2.0 // indirect
github.com/desertbit/timer v0.0.0-20180107155436-c41aec40b27f // indirect
github.com/disintegration/imaging v1.6.2 // indirect
github.com/docker/go-units v0.5.0 // indirect
github.com/edaniels/gostream v0.0.0-20230321201259-9c06d1aeaae5 // indirect
github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0 // indirect
github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd // indirect
github.com/edaniels/zeroconf v1.0.5 // indirect
github.com/edaniels/zeroconf v1.0.10 // indirect
github.com/erikstmartin/go-testdb v0.0.0-20160219214506-8d10e4a1bae5 // indirect
github.com/fogleman/gg v1.3.0 // indirect
github.com/fsnotify/fsnotify v1.6.0 // indirect
github.com/fullstorydev/grpcurl v1.8.7 // indirect
github.com/gen2brain/malgo v0.11.10 // indirect
github.com/go-audio/audio v1.0.0 // indirect
github.com/go-audio/riff v1.0.0 // indirect
github.com/go-audio/transforms v0.0.0-20180121090939-51830ccc35a5 // indirect
github.com/go-audio/wav v1.1.0 // indirect
github.com/go-fonts/liberation v0.3.0 // indirect
github.com/go-gl/mathgl v1.0.0 // indirect
github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
github.com/go-pdf/fpdf v0.8.0 // indirect
github.com/felixge/httpsnoop v1.0.4 // indirect
github.com/fsnotify/fsnotify v1.7.0 // indirect
github.com/fullstorydev/grpcurl v1.8.9 // indirect
github.com/go-fonts/liberation v0.3.2 // indirect
github.com/go-gl/mathgl v1.1.0 // indirect
github.com/go-latex/latex v0.0.0-20231108140139-5c1ce85aa4ea // indirect
github.com/go-logr/logr v1.3.0 // indirect
github.com/go-logr/stdr v1.2.2 // indirect
github.com/go-pdf/fpdf v0.9.0 // indirect
github.com/goccy/go-json v0.10.2 // indirect
github.com/golang-jwt/jwt/v4 v4.5.0 // indirect
github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 // indirect
github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da // indirect
github.com/golang/protobuf v1.5.3 // indirect
github.com/golang/snappy v0.0.4 // indirect
github.com/gonuts/binary v0.2.0 // indirect
github.com/google/go-cmp v0.5.9 // indirect
github.com/google/s2a-go v0.1.2 // indirect
github.com/google/uuid v1.3.0 // indirect
github.com/googleapis/enterprise-certificate-proxy v0.2.3 // indirect
github.com/googleapis/gax-go/v2 v2.8.0 // indirect
github.com/googleapis/go-type-adapters v1.0.0 // indirect
github.com/gorilla/securecookie v1.1.1 // indirect
github.com/google/go-cmp v0.6.0 // indirect
github.com/google/s2a-go v0.1.7 // indirect
github.com/google/uuid v1.5.0 // indirect
github.com/googleapis/enterprise-certificate-proxy v0.3.2 // indirect
github.com/googleapis/gax-go/v2 v2.12.0 // indirect
github.com/gorilla/securecookie v1.1.2 // indirect
github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 // indirect
github.com/grpc-ecosystem/grpc-gateway/v2 v2.15.2 // indirect
github.com/huandu/xstrings v1.3.2 // indirect
github.com/imdario/mergo v0.3.12 // indirect
github.com/grpc-ecosystem/grpc-gateway/v2 v2.18.1 // indirect
github.com/improbable-eng/grpc-web v0.15.0 // indirect
github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
github.com/jhump/protoreflect v1.15.1 // indirect
github.com/jedib0t/go-pretty/v6 v6.4.9 // indirect
github.com/jhump/protoreflect v1.15.4 // indirect
github.com/kellydunn/golang-geo v0.7.0 // indirect
github.com/klauspost/compress v1.16.5 // indirect
github.com/klauspost/compress v1.17.4 // indirect
github.com/kylelemons/go-gypsy v1.0.0 // indirect
github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect
github.com/lestrrat-go/blackmagic v1.0.1 // indirect
github.com/lestrrat-go/blackmagic v1.0.2 // indirect
github.com/lestrrat-go/httpcc v1.0.1 // indirect
github.com/lestrrat-go/iter v1.0.2 // indirect
github.com/lestrrat-go/jwx v1.2.25 // indirect
github.com/lestrrat-go/jwx v1.2.27 // indirect
github.com/lestrrat-go/option v1.0.1 // indirect
github.com/lib/pq v1.10.8 // indirect
github.com/lmittmann/ppm v1.0.2 // indirect
github.com/lib/pq v1.10.9 // indirect
github.com/lucasb-eyer/go-colorful v1.2.0 // indirect
github.com/mattn/go-runewidth v0.0.14 // indirect
github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect
github.com/miekg/dns v1.1.53 // indirect
github.com/mitchellh/copystructure v1.2.0 // indirect
github.com/mattn/go-runewidth v0.0.15 // indirect
github.com/miekg/dns v1.1.57 // indirect
github.com/mitchellh/mapstructure v1.5.0 // indirect
github.com/mitchellh/reflectwalk v1.0.2 // indirect
github.com/montanaflynn/stats v0.7.0 // indirect
github.com/muesli/clusters v0.0.0-20200529215643-2700303c1762 // indirect
github.com/muesli/kmeans v0.3.1 // indirect
github.com/montanaflynn/stats v0.7.1 // indirect
github.com/pion/datachannel v1.5.5 // indirect
github.com/pion/dtls/v2 v2.2.6 // indirect
github.com/pion/ice/v2 v2.3.2 // indirect
github.com/pion/interceptor v0.1.12 // indirect
github.com/pion/dtls/v2 v2.2.8 // indirect
github.com/pion/ice/v2 v2.3.11 // indirect
github.com/pion/interceptor v0.1.25 // indirect
github.com/pion/logging v0.2.2 // indirect
github.com/pion/mdns v0.0.7 // indirect
github.com/pion/mediadevices v0.4.1-0.20230412180714-14bfaa5dbdd3 // indirect
github.com/pion/mdns v0.0.9 // indirect
github.com/pion/randutil v0.1.0 // indirect
github.com/pion/rtcp v1.2.10 // indirect
github.com/pion/rtp v1.7.13 // indirect
github.com/pion/sctp v1.8.6 // indirect
github.com/pion/rtcp v1.2.13 // indirect
github.com/pion/rtp v1.8.3 // indirect
github.com/pion/sctp v1.8.9 // indirect
github.com/pion/sdp/v3 v3.0.6 // indirect
github.com/pion/srtp/v2 v2.0.12 // indirect
github.com/pion/stun v0.4.0 // indirect
github.com/pion/transport v0.14.1 // indirect
github.com/pion/transport/v2 v2.2.0 // indirect
github.com/pion/turn/v2 v2.1.0 // indirect
github.com/pion/udp v0.1.4 // indirect
github.com/pion/udp/v2 v2.0.1 // indirect
github.com/pion/webrtc/v3 v3.1.60 // indirect
github.com/pion/srtp/v2 v2.0.18 // indirect
github.com/pion/stun v0.6.1 // indirect
github.com/pion/transport/v2 v2.2.4 // indirect
github.com/pion/turn/v2 v2.1.4 // indirect
github.com/pion/webrtc/v3 v3.2.24 // indirect
github.com/pmezard/go-difflib v1.0.0 // indirect
github.com/rivo/uniseg v0.4.4 // indirect
github.com/rs/cors v1.9.0 // indirect
github.com/rogpeppe/go-internal v1.9.0 // indirect
github.com/rs/cors v1.10.1 // indirect
github.com/sergi/go-diff v1.3.1 // indirect
github.com/smartystreets/assertions v1.13.1 // indirect
github.com/smartystreets/assertions v1.13.0 // indirect
github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect
github.com/stretchr/testify v1.8.4 // indirect
github.com/xdg-go/pbkdf2 v1.0.0 // indirect
github.com/xdg-go/scram v1.1.2 // indirect
github.com/xdg-go/stringprep v1.0.4 // indirect
github.com/xfmoulet/qoi v0.2.0 // indirect
github.com/youmark/pkcs8 v0.0.0-20201027041543-1326539a0a0a // indirect
github.com/zitadel/oidc v1.13.4 // indirect
github.com/zitadel/oidc v1.13.5 // indirect
github.com/ziutek/mymysql v1.5.4 // indirect
go-hep.org/x/hep v0.32.1 // indirect
go.mongodb.org/mongo-driver v1.12.0-prerelease.0.20221109213319-d3466eeae7a7 // indirect
go-hep.org/x/hep v0.34.1 // indirect
go.mongodb.org/mongo-driver v1.13.1 // indirect
go.opencensus.io v0.24.0 // indirect
go.uber.org/atomic v1.10.0 // indirect
go.uber.org/goleak v1.2.1 // indirect
go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.46.1 // indirect
go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.46.1 // indirect
go.opentelemetry.io/otel v1.21.0 // indirect
go.opentelemetry.io/otel/metric v1.21.0 // indirect
go.opentelemetry.io/otel/trace v1.21.0 // indirect
go.uber.org/atomic v1.11.0 // indirect
go.uber.org/goleak v1.3.0 // indirect
go.uber.org/multierr v1.11.0 // indirect
go.uber.org/zap v1.24.0 // indirect
go.viam.com/api v0.1.113 // indirect
go.uber.org/zap v1.26.0 // indirect
go.viam.com/api v0.1.242 // indirect
go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect
goji.io v2.0.2+incompatible // indirect
golang.org/x/crypto v0.8.0 // indirect
golang.org/x/exp v0.0.0-20230420155640-133eef4313cb // indirect
golang.org/x/image v0.7.0 // indirect
golang.org/x/mod v0.10.0 // indirect
golang.org/x/net v0.9.0 // indirect
golang.org/x/oauth2 v0.7.0 // indirect
golang.org/x/sync v0.1.0 // indirect
golang.org/x/sys v0.7.0 // indirect
golang.org/x/text v0.9.0 // indirect
golang.org/x/tools v0.8.0 // indirect
golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect
gonum.org/v1/gonum v0.12.0 // indirect
gonum.org/v1/plot v0.12.0 // indirect
google.golang.org/api v0.119.0 // indirect
google.golang.org/appengine v1.6.7 // indirect
google.golang.org/genproto v0.0.0-20230410155749-daa745c078e1 // indirect
google.golang.org/grpc v1.54.0 // indirect
google.golang.org/protobuf v1.30.0 // indirect
golang.org/x/crypto v0.17.0 // indirect
golang.org/x/exp v0.0.0-20231219180239-dc181d75b848 // indirect
golang.org/x/image v0.14.0 // indirect
golang.org/x/mod v0.14.0 // indirect
golang.org/x/net v0.19.0 // indirect
golang.org/x/oauth2 v0.15.0 // indirect
golang.org/x/sync v0.5.0 // indirect
golang.org/x/text v0.14.0 // indirect
golang.org/x/time v0.5.0 // indirect
golang.org/x/tools v0.16.1 // indirect
golang.org/x/xerrors v0.0.0-20231012003039-104605ab7028 // indirect
gonum.org/v1/gonum v0.14.0 // indirect
gonum.org/v1/plot v0.14.0 // indirect
google.golang.org/api v0.154.0 // indirect
google.golang.org/appengine v1.6.8 // indirect
google.golang.org/genproto v0.0.0-20231212172506-995d672761c0 // indirect
google.golang.org/genproto/googleapis/api v0.0.0-20231212172506-995d672761c0 // indirect
google.golang.org/genproto/googleapis/rpc v0.0.0-20231212172506-995d672761c0 // indirect
google.golang.org/grpc v1.60.1 // indirect
google.golang.org/protobuf v1.31.1-0.20231027082548-f4a6c1f6e5c1 // indirect
gopkg.in/square/go-jose.v2 v2.6.0 // indirect
gopkg.in/src-d/go-billy.v4 v4.3.2 // indirect
gopkg.in/yaml.v3 v3.0.1 // indirect
nhooyr.io/websocket v1.8.7 // indirect
nhooyr.io/websocket v1.8.10 // indirect
)
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