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Add Pivot to Face Point Maneuver #416

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Merged
chachmu merged 3 commits into from
Jun 24, 2026
+33 −8
Merged

Add Pivot to Face Point Maneuver #416

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d20a117
add pivot to face point maneuver
nickwitten Jun 24, 2026
3749b96
Update CMakeLists for new pivot messages
chachmu Jun 24, 2026
412ce1f
Update submodules
chachmu Jun 24, 2026
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9 changes: 8 additions & 1 deletion ateam_msgs/msg/RobotMotionCommand.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,8 @@ float64 limit_acc_angular # (rad/s/s)
# pivot parameters
float64 pivot_orbit_radius # (m)
float64 pivot_inset_angle # (rad)
uint8 pivot_direction # orbit drive direction: PD_FORWARD=0, PD_BACKWARD=1
bool pivot_compute_inset_angle # if true, firmware derives inset_angle from peak angular vel

uint8 kick_request
float32 kick_speed # (m/s)
Expand All @@ -25,11 +27,16 @@ uint8 KR_CHIP_NOW = 5
uint8 KR_CHIP_TOUCH = 6
uint8 KR_CHIP_CAPTURED = 7

# pivot direction (orbit drive direction)
uint8 PD_FORWARD = 0
uint8 PD_BACKWARD = 1

# body control modes
uint8 BCM_OFF = 0
uint8 BCM_GLOBAL_POSITION = 1
uint8 BCM_GLOBAL_VELOCITY = 2
uint8 BCM_LOCAL_VELOCITY = 3
uint8 BCM_GLOBAL_ACCEL = 4
uint8 BCM_LOCAL_ACCEL = 5
uint8 BCM_PIVOT = 6
uint8 BCM_HEADING_PIVOT = 6
uint8 BCM_POINT_PIVOT = 7
2 changes: 1 addition & 1 deletion motion/ateam_controls/controls
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Submodule controls updated 12 files
+23 −6 analysis/pivot_traj_visualize.py
+1 −1 analysis/visualization/trajectory.py
+34 −1 ateam-controls-c/include/ateam_controls/ateam_controls.h
+56 −2 ateam-controls-c/src/lib.rs
+8 −1 ateam-controls-py/ateam_controls/__init__.py
+45 −5 ateam-controls-py/ateam_controls/_bindings.py
+1 −0 ateam-controls/src/bangbang_trajectory.rs
+7 −3 ateam-controls/src/defaults.rs
+570 −129 ateam-controls/src/pivot_trajectory.rs
+45 −10 ateam-controls/src/robot_model.rs
+37 −0 cpp_tests/test_bangbang.cpp
+98 −16 cpp_tests/test_pivot_trajectory.cpp
25 changes: 21 additions & 4 deletions radio/ateam_radio_bridge/src/radio_bridge_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -366,14 +366,31 @@ class RadioBridgeNode : public rclcpp::Node
static_cast<float>(command.acceleration.theta),
};
break;
case ateam_msgs::msg::RobotMotionCommand::BCM_PIVOT:
control_msg.body_control_mode = BCM_PIVOT;
control_msg.cmd.pivot = {
case ateam_msgs::msg::RobotMotionCommand::BCM_HEADING_PIVOT:
control_msg.body_control_mode = BCM_HEADING_PIVOT;
control_msg.cmd.heading_pivot = {
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_inset_angle)
static_cast<float>(command.pivot_inset_angle),
static_cast<PivotDirection>(command.pivot_direction),
static_cast<uint8_t>(command.pivot_compute_inset_angle),
{0, 0}
};
break;
case ateam_msgs::msg::RobotMotionCommand::BCM_POINT_PIVOT:
control_msg.body_control_mode = BCM_POINT_PIVOT;
control_msg.cmd.point_pivot = {
static_cast<float>(command.pose.x),
static_cast<float>(command.pose.y),
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_inset_angle),
static_cast<PivotDirection>(command.pivot_direction),
static_cast<uint8_t>(command.pivot_compute_inset_angle),
{0, 0}
};
break;
default:
Expand Down
3 changes: 2 additions & 1 deletion radio/ateam_radio_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,8 @@ set(RADIO_STRUCTS_TO_GENERATE
LocalVelocityCommand
GlobalAccelerationCommand
LocalAccelerationCommand
PivotCommand
PointPivotCommand
HeadingPivotCommand
BasicTelemetry
ErrorTelemetry
ExtendedTelemetry
Expand Down
2 changes: 1 addition & 1 deletion radio/ateam_radio_msgs/software-communication
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Submodule software-communication updated 7 files
+4 −2 ateam-common-packets/include/basic_control.h
+2 −1 ateam-common-packets/include/basic_telemetry.h
+2 −1 ateam-common-packets/include/body_control.h
+1 −1 ateam-common-packets/include/extended_telemetry.h
+56 −11 ateam-common-packets/include/robot_maneuvers/pivot.h
+14 −4 ateam-common-packets/rust-lib/src/lib.rs
+27 −8 ateam-common-packets/rust-lib/src/radio.rs
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