Code

Commissioning#19

Code

Open

james-ward wants to merge 30 commits intothedropbears:masterthedropbears/libswervedrive:masterfrom james-ward:commissioningjames-ward/libswervedrive:commissioningCopy head branch name to clipboard

+914-416

Commits

Commits on Jan 15, 2019

• Bugfix: check for close to zero in denominator, not exactly zero

  james-ward

  committed
  46f5671

• Refactor estimator tests to make easier to understand. Prototype fuzzing tests.

  james-ward

  committed
  edd269b

• Rewrite flip_wheel() function to be shortest_distance() function

  Show description for d52f44f
  james-ward

  committed
  d52f44f

• Use shortest_distance() function to determine if reconfiguration is done

  james-ward

  committed
  201553e

• Check for NaNs in S() function to calculate betas

  james-ward

  committed
  e39be63

• Controller: fix wheel reconfiguration mode

  ArthurAllshire

  committed
  073433b

• Controller: fix wheel reconfiguration mode

  ArthurAllshire

  committed
  ad449cb

Commits on Jan 16, 2019

• Controller: only support None as an argument for lmda, not mu

  ArthurAllshire

  committed
  20574ba

• Estimator: remove random division

  ArthurAllshire

  committed
  a33364a

Commits on Jan 17, 2019

• Add test for computing chassis motion when desired and estimate are the same

  james-ward

  committed
  83a0955

• Change proportional constants to the same as the paper (accounting for different time steps)

  james-ward

  committed
  2506bf3

• Planner chooses closest lambda to head to

  james-ward

  committed
  5922674

• Make sure k_beta gives at least 1 encoder tick of change

  james-ward

  committed
  a7d5246

• Determine when reconfiguring is done based on average number of degrees error per module

  james-ward

  committed
  aab0bc6

• Add hypothesis test to test sequential segments

  ArthurAllshire

  committed
  5316148

Commits on Jan 18, 2019

• Move vel bounds test to hypothesis, cleanup some of the other tests stuff

  ArthurAllshire

  committed
  eb74c52

• WIP: refactor to ensure numpy vectors are properly formed

  james-ward

  committed
  efdbc97

• Merge remote-tracking branch 'james/commissioning' into commissioning

  ArthurAllshire

  committed
  ea4ac26

• Add shape assertation to kinematicmodel/integrator, fix KM tests for this

  ArthurAllshire

  committed
  924d7e4

• WIP array assertations in controller/timescaler, adjust some tests accordingly

  ArthurAllshire

  committed
  1a379ec

Commits on Jan 19, 2019

• KinematicModel: change to column vectors

  ArthurAllshire

  committed
  2c236e3

• Black reformat estimator

  ArthurAllshire

  committed
  5f65aa0

• Estimator: switch to column vectors

  ArthurAllshire

  committed
  7040d64

• Controller: fully switch to column vectors

  ArthurAllshire

  committed
  a216767

Commits on Jan 22, 2019

• Normalise in calculation of lambda_t to avoid floating point errors

  james-ward

  committed
  54dc02f

• Bugfix: reject starting points that are close to parallel

  james-ward

  committed
  c417d7d

• Add more assertions to ensure correct behaviour

  james-ward

  committed
  b3b3190

• Improve tests: more info printed upon failure. Terminate loops early.

  james-ward

  committed
  ed6323d

Commits on Jan 23, 2019

• Improve controller tests: determine success based on wheel angles, not lambda diffs

  james-ward

  committed
  8a6b474

• Create test for bug in shortest_distance function, and fix bug

  james-ward

  committed
  9a66028