Merge branch 'develop' into amputate

.github/workflows/super-linter.yml

@@ -25,7 +25,7 @@ jobs:
           fetch-depth: 0
 
       - name: Lint
-        uses: super-linter/super-linter/slim@v6.3.0
+        uses: super-linter/super-linter/slim@v7
         env:
           VALIDATE_CLANG_FORMAT: true
           VALIDATE_ALL_CODEBASE: false

ut-robomaster/project.xml

@@ -29,6 +29,22 @@
     <option name="taproot:board:analog_in_pins"></option>
     <option name="taproot:board:pwm_pins">C1,C2,C3,C4,C5,C6,C7,Buzzer,ImuHeater</option>
 
+    <option name="taproot:modm-project.xml:modm_hal_modules">
+      modm:platform:i2c:2
+      modm:platform:rtt
+    </option>
+
+    <option name="taproot:modm-project.xml:modm_hal_options">
+      modm:platform:rtt:buffer.rx 0,00,000,0000
+      modm:platform:rtt:buffer.tx 1024,0b10000000000,0o2000,0x400
+      modm:platform:uart:1:buffer.rx 256
+      modm:platform:uart:1:buffer.tx 256
+      modm:platform:uart:3:buffer.tx 256
+      modm:platform:uart:3:buffer.rx 256
+      modm:platform:uart:6:buffer.rx 256
+      modm:platform:uart:6:buffer.tx 256
+    </option>
+
   </options>
   <modules>
     <module>taproot:core</module>

ut-robomaster/src/main.cpp

@@ -42,6 +42,12 @@ static void updateIo(src::Drivers *drivers)
     drivers->remote.read();
 }
 
+static void updateImu(src::Drivers *drivers)
+{
+    drivers->bmi088.read();
+    drivers->bmi088.periodicIMUUpdate();
+}
+
 src::Drivers drivers;
 RobotControl control{&drivers};
 
@@ -61,7 +67,7 @@ int main()
 
         if (refreshTimer.execute())
         {
-            PROFILE(drivers.profiler, drivers.bmi088.periodicIMUUpdate, ());
+            PROFILE(drivers.profiler, updateImu, (&drivers));
             PROFILE(drivers.profiler, drivers.commandScheduler.run, ());
             PROFILE(drivers.profiler, drivers.djiMotorTxHandler.encodeAndSendCanData, ());
             PROFILE(drivers.profiler, drivers.terminalSerial.update, ());

ut-robomaster/src/robots/common/common_control_manual.hpp

@@ -6,14 +6,10 @@
 
 #include "robots/common/common_control.hpp"
 #include "subsystems/chassis/command_move_chassis.hpp"
-#include "subsystems/chassis/command_move_chassis_joystick.hpp"
-#include "subsystems/chassis/command_move_chassis_keyboard.hpp"
 #include "subsystems/flywheel/command_flywheel_off.hpp"
 #include "subsystems/flywheel/command_rotate_flywheel.hpp"
 #include "subsystems/turret/command_move_turret.hpp"
 #include "subsystems/turret/command_move_turret_aimbot.hpp"
-#include "subsystems/turret/command_move_turret_joystick.hpp"
-#include "subsystems/turret/command_move_turret_mouse.hpp"
 
 class CommonControlManual : protected CommonControl
 {

ut-robomaster/src/subsystems/agitator/agitator_subsystem.cpp

@@ -4,13 +4,9 @@
 
 namespace subsystems::agitator
 {
-
 using tap::algorithms::compareFloatClose;
 using tap::arch::clock::getTimeMilliseconds;
 
-/**
- * AgitatorSubsystem class instantiation
- */
 #if defined(TARGET_STANDARD) || defined(TARGET_SENTRY)
 AgitatorSubsystem::AgitatorSubsystem(
     src::Drivers* drivers,

ut-robomaster/src/subsystems/agitator/agitator_subsystem.hpp

@@ -10,9 +10,7 @@
 
 #include "drivers.hpp"
 
-namespace subsystems
-{
-namespace agitator
+namespace subsystems::agitator
 {
 using flywheel::FlywheelSubsystem;
 using motors::MotorController;
@@ -21,11 +19,7 @@ class AgitatorSubsystem : public Subsystem
 {
 public:
     AgitatorSubsystem(src::Drivers *drivers, FlywheelSubsystem *flywheel, MotorConfig motor);
-
-    ~AgitatorSubsystem() = default;
-
     void initialize() override;
-
     void refresh() override;
 
     float getShapedVelocity(float time, float a, float phi, float ballsPerSecond);
@@ -47,6 +41,4 @@ class AgitatorSubsystem : public Subsystem
     MotorController feeder;
 #endif
 };
-
-}  // namespace agitator
-}  // namespace subsystems
+}  // namespace subsystems::agitator

ut-robomaster/src/subsystems/chassis/chassis_subsystem.cpp

@@ -5,12 +5,10 @@
 #include "robots/robot_constants.hpp"
 #include "subsystems/subsystem.hpp"
 
+namespace subsystems::chassis
+{
 using namespace tap::algorithms;
 
-namespace subsystems
-{
-namespace chassis
-{
 ChassisSubsystem::ChassisSubsystem(src::Drivers* drivers)
     : Subsystem(drivers),
       drivers(drivers),
@@ -68,11 +66,6 @@ void ChassisSubsystem::limitChassisPower()
     }
 }
 
-void ChassisSubsystem::runHardwareTests()
-{
-    // TODO
-}
-
 bool ChassisSubsystem::hardwareOk()
 {
     for (int8_t i = 0; i < WHEELS; i++)
@@ -139,5 +132,4 @@ Vector3f ChassisSubsystem::measureVelocity()
     // Rotated -90 deg to match our reference frame
     return Vector3f(ya, -xa, wa) * WHEEL_RADIUS / 4.0f * M_TWOPI;
 }
-}  // namespace chassis
-}  // namespace subsystems
+}  // namespace subsystems::chassis

ut-robomaster/src/subsystems/chassis/chassis_subsystem.hpp

@@ -1,5 +1,4 @@
-#ifndef CHASSIS_SUBSYSTEM_HPP_
-#define CHASSIS_SUBSYSTEM_HPP_
+#pragma once
 
 #include "tap/control/subsystem.hpp"
 
@@ -11,29 +10,22 @@
 
 #include "drivers.hpp"
 
+namespace subsystems::chassis
+{
 using namespace tap::communication::sensors::imu;
 using namespace modm;
 using motors::MotorController;
 
-namespace subsystems
-{
-namespace chassis
-{
 class ChassisSubsystem : public Subsystem
 {
 public:
     ChassisSubsystem(src::Drivers* drivers);
-
     void initialize() override;
-
     void refresh() override;
+    bool hardwareOk() override;
 
     void limitChassisPower();
 
-    void runHardwareTests() override;
-
-    bool hardwareOk() override;
-
     /// @brief Update robot motion based on simple input controls. Inputs are scaled and corrected
     /// to avoid over-driving motors. This logic can be adjusted to create various input schemes.
     /// @param move Linear movement (magnitude should be within [0,1])
@@ -44,8 +36,6 @@ class ChassisSubsystem : public Subsystem
     /// @return x,y is linear velocity (m/s) and z is angular velocity (rad/s)
     Vector3f measureVelocity();
 
-    const char* getName() override { return "Chassis subsystem"; }
-
 private:
     src::Drivers* drivers;
     power_limiter::PowerLimiter powerLimiter;
@@ -67,7 +57,4 @@ class ChassisSubsystem : public Subsystem
     static constexpr float ENERGY_BUFFER_CRIT_THRESHOLD = 30.0f;
 #endif
 };
-}  // namespace chassis
-}  // namespace subsystems
-
-#endif
+}  // namespace subsystems::chassis