#include <TransportWriter.hpp>

Public Member Functions
void	setMotorMode (uint8_t port, int mode)
	Publish motor mode command (0=OFF, 1=PASSIVE_BRAKE).
void	setMotor (uint8_t port, int valueData)
	Publish open-loop motor power for one port.
void	setMotorVelocity (uint8_t port, int32_t velocity)
	Publish a firmware-side velocity target in BEMF units.
void	setMotorPosition (uint8_t port, int32_t velocity, int32_t goalPosition)
	Publish an absolute position move command.
void	setMotorRelative (uint8_t port, int32_t velocity, int32_t deltaPosition)
	Publish a relative position move command.
void	setServo (uint8_t port, float degrees)
	Publish a servo position command in degrees (0-180).
void	setServoMode (uint8_t port, uint8_t mode)
	Publish a servo mode update.
void	setSmoothServo (uint8_t port, float targetDeg, float speedDegPerSec, int easing)
	Publish a smooth servo command; interpolation runs in the C++ reader at 200 Hz.
void	setMotorPid (uint8_t port, float kp, float ki, float kd)
	Publish per-port PID gains.
void	resetMotorPosition (uint8_t port)
	Reset firmware motor position for one port.
void	setChassisVelocity (float vx, float vy, float wz)
void	setShutdown (bool enabled)
	Toggle the STM32-wide shutdown flag for the safest available stop path.
void	sendHeartbeat ()
void	sendKinematicsConfig (const std::array< std::array< float, 4 >, 3 > &inv_matrix, const std::array< float, 4 > &ticks_to_rad, const std::array< std::array< float, 3 >, 4 > &fwd_matrix, const std::array< float, 4 > &bemf_offset)
	Send kinematics config to STM32 for on-board odometry.
void	resetOdometry ()
	Request STM32 to reset its integrated odometry pose.
void	resetCalibOdometry ()

Static Public Member Functions
static TransportWriter &	instance ()

Detailed Description

Command publisher for the wombat bundle.

HAL motor and servo wrappers delegate writes here so transport details stay out of the public HAL classes.

Definition at line 25 of file TransportWriter.hpp.

Member Function Documentation

◆ instance()

TransportWriter & platform::wombat::core::TransportWriter::instance ( )

inlinestatic

Definition at line 28 of file TransportWriter.hpp.

◆ resetCalibOdometry()

void platform::wombat::core::TransportWriter::resetCalibOdometry ( )

Request the external calibration board to zero its fused odometry pose. No-op on the wire if no bridge/board is listening.

◆ resetMotorPosition()

void platform::wombat::core::TransportWriter::resetMotorPosition ( uint8_t port )

Reset firmware motor position for one port.

◆ resetOdometry()

void platform::wombat::core::TransportWriter::resetOdometry ( )

Request STM32 to reset its integrated odometry pose.

◆ sendHeartbeat()

void platform::wombat::core::TransportWriter::sendHeartbeat ( )

Send a heartbeat to stm32-data-reader. Must be called every ~100 ms while missions are running or the hardware watchdog fires.

◆ sendKinematicsConfig()

void platform::wombat::core::TransportWriter::sendKinematicsConfig	(	const std::array< std::array< float, 4 >, 3 > &	inv_matrix,
		const std::array< float, 4 > &	ticks_to_rad,
		const std::array< std::array< float, 3 >, 4 > &	fwd_matrix,
		const std::array< float, 4 > &	bemf_offset )

Send kinematics config to STM32 for on-board odometry.

◆ setChassisVelocity()

void platform::wombat::core::TransportWriter::setChassisVelocity	(	float	vx,
		float	vy,
		float	wz )

Command a body-frame chassis velocity [vx (m/s), vy (m/s), wz (rad/s)]. The reader puts all four motors into MOT_MODE_CHASSIS and the STM32 maps this to per-wheel setpoints via forward kinematics — the full chassis velocity loop closes on-MCU. High-rate, best-effort.

◆ setMotor()

void platform::wombat::core::TransportWriter::setMotor	(	uint8_t	port,
		int	valueData )

Publish open-loop motor power for one port.

◆ setMotorMode()

void platform::wombat::core::TransportWriter::setMotorMode	(	uint8_t	port,
		int	mode )

Publish motor mode command (0=OFF, 1=PASSIVE_BRAKE).

◆ setMotorPid()

void platform::wombat::core::TransportWriter::setMotorPid	(	uint8_t	port,
		float	kp,
		float	ki,
		float	kd )

Publish per-port PID gains.

◆ setMotorPosition()

void platform::wombat::core::TransportWriter::setMotorPosition	(	uint8_t	port,
		int32_t	velocity,
		int32_t	goalPosition )

Publish an absolute position move command.

◆ setMotorRelative()

void platform::wombat::core::TransportWriter::setMotorRelative	(	uint8_t	port,
		int32_t	velocity,
		int32_t	deltaPosition )

Publish a relative position move command.

◆ setMotorVelocity()

void platform::wombat::core::TransportWriter::setMotorVelocity	(	uint8_t	port,
		int32_t	velocity )

Publish a firmware-side velocity target in BEMF units.

◆ setServo()

void platform::wombat::core::TransportWriter::setServo	(	uint8_t	port,
		float	degrees )

Publish a servo position command in degrees (0-180).

◆ setServoMode()

void platform::wombat::core::TransportWriter::setServoMode	(	uint8_t	port,
		uint8_t	mode )

Publish a servo mode update.

◆ setShutdown()

void platform::wombat::core::TransportWriter::setShutdown ( bool enabled )

Toggle the STM32-wide shutdown flag for the safest available stop path.

◆ setSmoothServo()

void platform::wombat::core::TransportWriter::setSmoothServo	(	uint8_t	port,
		float	targetDeg,
		float	speedDegPerSec,
		int	easing )

Publish a smooth servo command; interpolation runs in the C++ reader at 200 Hz.

The documentation for this class was generated from the following file:

/home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-platforms/wombat/core/include/core/TransportWriter.hpp

Public Member Functions

Static Public Member Functions