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trajectory and pivot updates #414

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Merged
nickwitten merged 2 commits into from
Jun 21, 2026
Merged

trajectory and pivot updates #414

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c753b7d
trajectory and pivot updates
nickwitten Jun 21, 2026
295a622
updates submodules to main
nickwitten Jun 21, 2026
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4 changes: 2 additions & 2 deletions ateam_msgs/msg/RobotMotionCommand.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@ float64 limit_vel_angular # (rad/s)
float64 limit_acc_linear # (m/s/s)
float64 limit_acc_angular # (rad/s/s)

# pivot maneuver parameters (used when body_control_mode == BCM_PIVOT)
# pivot parameters
float64 pivot_orbit_radius # (m)
float64 pivot_heading_lag # (rad)
float64 pivot_inset_angle # (rad)

uint8 kick_request
float32 kick_speed # (m/s)
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2 changes: 1 addition & 1 deletion motion/ateam_controls/controls
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Submodule controls updated 22 files
+4 −3 README.md
+42 −6 analysis/params.py
+141 −0 analysis/pivot_traj_visualize.py
+306 −0 analysis/ros_scripts/controller_tune.py
+0 −250 analysis/ros_scripts/param_tuning_loop.py
+391 −0 analysis/ros_scripts/signal_input.py
+9 −9 analysis/visualization/body.py
+4 −5 analysis/visualization/overlays.py
+208 −0 analysis/visualization/trajectory.py
+51 −3 ateam-controls-c/include/ateam_controls/ateam_controls.h
+69 −5 ateam-controls-c/src/lib.rs
+11 −1 ateam-controls-py/ateam_controls/__init__.py
+74 −6 ateam-controls-py/ateam_controls/_bindings.py
+52 −24 ateam-controls/src/bangbang_trajectory.rs
+20 −1 ateam-controls/src/ctypes.rs
+10 −6 ateam-controls/src/defaults.rs
+3 −0 ateam-controls/src/lib.rs
+436 −0 ateam-controls/src/pivot_trajectory.rs
+18 −0 ateam-controls/src/trajectory.rs
+1 −0 cpp_tests/CMakeLists.txt
+3 −3 cpp_tests/test_bangbang.cpp
+133 −0 cpp_tests/test_pivot_trajectory.cpp
4 changes: 1 addition & 3 deletions radio/ateam_radio_bridge/src/radio_bridge_node.cpp
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Expand Up @@ -369,13 +369,11 @@ class RadioBridgeNode : public rclcpp::Node
case ateam_msgs::msg::RobotMotionCommand::BCM_PIVOT:
control_msg.body_control_mode = BCM_PIVOT;
control_msg.cmd.pivot = {
static_cast<float>(command.pose.x),
static_cast<float>(command.pose.y),
static_cast<float>(command.pose.theta),
static_cast<float>(command.limit_vel_angular),
static_cast<float>(command.limit_acc_angular),
static_cast<float>(command.pivot_orbit_radius),
static_cast<float>(command.pivot_heading_lag)
static_cast<float>(command.pivot_inset_angle)
};
break;
default:
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2 changes: 1 addition & 1 deletion radio/ateam_radio_msgs/software-communication
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Submodule software-communication updated 3 files
+3 −5 ateam-common-packets/include/robot_maneuvers/pivot.h
+10 −1 ateam-common-packets/rust-lib/src/lib.rs
+58 −13 ateam-common-packets/rust-lib/src/radio.rs
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