OdomDebug

Display the robot on a VEX field using odometry and LVGL.

Installation in external project

Use pre-built template

Instead of building the project yourself you can use a pre-built template to apply to your external project. Download [email protected] from the repository and then fetch into PROS as described below.

Building

To build the template yourself, clone the repository and run prosv5 make template.

Apply template to project

Now that you have a template, run prosv5 c fetch <template> to import the template into PROS.

Finally, run prosv5 c apply odomDebug --force-apply in your destination project to install the package. You can now use odomDebug in your project.

Use as standalone project

You can also use this repository as a standalone project and run it directly on the robot. Build by running prosv5 make. There is an example program in src/opcontrol.cpp. You will have to provide your own odometry, or use okapilib v4 odometry.

Use

For a full example, see src/opcontrol.cpp

Include the header into your file: #include "odomDebug/odomDebug.hpp"

OdomDebug needs you to make two callback functions. The first function is for when a tile is pressed, and should set the odometry position to the given coordenates. The second function is for when the reset button is pressed on the screen, and should reset your robot's encoders and odometry. Here is the template:

void setState(OdomDebug::state_t state) {
	// set your odometry position to these cartesian coordenates
	// to access the values, call `state.x`, `state.y`, and `state.theta`
	// to convert the QUnits to doubles, call
	// `state.x.convert(inch)` or `state.theta.convert(radian)`
	// you can use any length or angle unit
	// example commands:
	odomSetPosition(state.x, state.y, state.theta);
	odomSetPosition(state.x.convert(inch), state.y.convert(inch), state.theta.convert(radian));
}

void resetSensors() {
	// reset sensors and reset odometry
	// example commands:
	odomResetSensors();
	odomSetPosition(0, 0, 0);
}

Then, initialize the debugger

OdomDebug display(lv_scr_act(), LV_COLOR_ORANGE);

You then need to register your callback functions:

display.setStateCallback(setState);
display.setResetCallback(resetSensors);

To update the robot's position on the screen, you need to call setData in a loop. The syntax to do so is display.setData({x, y, theta}, {left, right, middle});.

You can give the state QUnits, or you can give it numbers in these units: inch, inch, radian. The last middle sensor paramiter is optional.

Here are a few examples:

display.setData({0_in, 0_in, 0_deg}, {0, 0, 0}); // QUnits used for state
display.setData({0, 0, 0}, {0, 0}); // middle sensor ommited

The complete example is in src/opcontrol.cpp