caperren/osurc_mars_rover_2017_2018
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Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

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This commit is contained in:
Corwin Perren
2018-03-17 20:32:24 -07:00
parent a0e8d9eb71 70eba06a4b
commit 85a2a7b066
2 changed files with 144 additions and 14 deletions
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4
electrical/documents/nodes/arm_breakout_1 → electrical/documents/nodes/arm_breakout_1.md
View File

@@ -12,11 +12,11 @@ Breaks out the required pins for three IONI motor controllers. Has a USB to UART
### Bill of Materials ### Bill of Materials
BOM link. [BOM](https://docs.google.com/spreadsheets/d/1gDx0AlCHqHsaTh7cWj4YosPhcUce1aw0WUB4wSzndNo/edit?usp=sharing)
#### Design files #### Design files
Circuitmaker link. [Circuitmaker](https://workspace.circuitmaker.com/Projects/Details/Dylan-Thrush-2/MR1718-Arm-1)
### Downloads ### Downloads
Schematic placeholder. Schematic placeholder.

148
software/ros_packages/ground_station/src/Framework/NavigationSystems/WaypointsCoordinator.py
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@@ -10,6 +10,8 @@ class WaypointsCoordinator(QtCore.QThread):
def __init__(self, shared_objects): def __init__(self, shared_objects):
super(WaypointsCoordinator, self).__init__() super(WaypointsCoordinator, self).__init__()
self.run_thread_flag = True self.run_thread_flag = True
self.navigation_table_cur_click = None
self.landmark_table_cur_click = None
self.shared_objects = shared_objects self.shared_objects = shared_objects
self.left_screen = self.shared_objects["screens"]["left_screen"] self.left_screen = self.shared_objects["screens"]["left_screen"]
@@ -26,15 +28,28 @@ class WaypointsCoordinator(QtCore.QThread):
manual_waypoint_decimal_longitude_spin_box) manual_waypoint_decimal_longitude_spin_box)
# Nav Table Buttons # Nav Table Buttons
self.nav_set_label = (self.left_screen. self.nav_set_button_label = (self.left_screen.
navigation_waypoints_set_button) navigation_waypoints_set_button)
self.nav_add_manual_label = (self.left_screen. self.nav_add_manual_button_label = (
navigation_waypoints_add_manual_button) self.left_screen.navigation_waypoints_add_manual_button)
self.nav_add_gps_label = (self.left_screen. self.nav_add_gps_button_label = (self.left_screen.
navigation_waypoints_add_gps_button) navigation_waypoints_add_gps_button)
self.nav_delete_label = (self.left_screen. self.nav_delete_button_label = (self.left_screen.
navigation_waypoints_delete_button) navigation_waypoints_delete_button)
# Land Table Buttons
self.land_set_button_label = (self.left_screen.
landmark_waypoints_set_button)
self.land_add_manual_button_label = (
self.left_screen.landmark_waypoints_add_manual_button)
self.land_add_gps_button_label = (self.left_screen.
landmark_waypoints_add_gps_button)
self.land_delete_button_label = (self.left_screen.
landmark_waypoint_delete_button)
self.settings = QtCore.QSettings() self.settings = QtCore.QSettings()
self.logger = logging.getLogger("groundstation") self.logger = logging.getLogger("groundstation")
@@ -46,8 +61,18 @@ class WaypointsCoordinator(QtCore.QThread):
def connect_signals_and_slots(self): def connect_signals_and_slots(self):
self.new_manual_waypoint_entry.connect(self.update_manual_entry) self.new_manual_waypoint_entry.connect(self.update_manual_entry)
# setting up signals to save for Navigation Table # setting up signals for Navigation Table
self.nav_add_gps_label.clicked.connect(self._nav_add_gps) self.nav_add_gps_button_label.clicked.connect(self._nav_add_gps)
self.nav_delete_button_label.clicked.connect(self._nav_del)
self.nav_add_manual_button_label.clicked.connect(self._nav_add_manual)
self.nav_set_button_label.clicked.connect(self._nav_save)
# setting up signals for Landmark Table
self.land_add_gps_button_label.clicked.connect(self._land_add_gps)
self.land_delete_button_label.clicked.connect(self._land_del)
self.land_add_manual_button_label.clicked.connect(self.
_land_add_manual)
self.land_set_button_label.clicked.connect(self._land_save)
self.navigation_label.cellClicked.connect(self._on_nav_clicked) self.navigation_label.cellClicked.connect(self._on_nav_clicked)
self.landmark_label.cellClicked.connect(self._on_land_clicked) self.landmark_label.cellClicked.connect(self._on_land_clicked)
@@ -60,13 +85,115 @@ class WaypointsCoordinator(QtCore.QThread):
table.setItem(count, 2, QtWidgets.QTableWidgetItem(lng)) table.setItem(count, 2, QtWidgets.QTableWidgetItem(lng))
table.setItem(count, 3, QtWidgets.QTableWidgetItem(dist)) table.setItem(count, 3, QtWidgets.QTableWidgetItem(dist))
def _clear_inputs(self):
self.name_edit_label.clear()
self.latitude_label.clear()
self.longitude_label.clear()
def _is_empty_inputs(self):
if self.name_edit_label.text().isEmpty():
return True
if self.latitude_label.text().isEmpty():
return True
if self.longitude_label.text().isEmpty():
return True
return False
def _nav_add_gps(self): def _nav_add_gps(self):
# request GPS data # request GPS data
name = self.navigation_label.rowCount() name = self.navigation_label.rowCount()
lat = 44.567200 lat = 44.567200
lng = -123.27860 lng = -123.27860
distance = 200 distance = 200
self._add_to_table(name, lat, lng, distance, self.navigation_label) self._add_to_table(str(name+1), str(lat),
str(lng), str(distance),
self.navigation_label)
self._clear_inputs()
def _nav_save(self):
if not self._is_empty_inputs():
lat = self.latitude_label.getText()
lng = self.longitude_label.getText()
self.navigation_label.setItem(
self.navigation_table_cur_click,
1,
QtWidgets.QTableWidgetItem(lat))
self.navigation_label.setItem(
self.navigation_label,
2,
QtWidgets.QTableWidgetItem(lng))
self._clear_inputs()
def _nav_add_manual(self):
# request GPS data
if not self._is_empty_inputs():
name = self.navigation_label.rowCount()
lat = self.latitude_label.getText()
lng = self.longitude_label.getText()
distance = 200
self._add_to_table(str(name+1), lat,
lng, str(distance),
self.navigation_label)
self._clear_inputs
def _nav_del(self):
if self.navigation_table_cur_click is not None:
self.navigation_label.removeRow(self.navigation_table_cur_click)
count = self.navigation_label.rowCount()
for x in range(self.navigation_table_cur_click, count):
self.navigation_label.setItem(x,
0,
QtWidgets.
QTableWidgetItem(str(x+1)))
self._clear_inputs()
def _land_add_gps(self):
name = self.name_edit_label.getText()
lat = 44.19223
lng = -123.12394
distance = 200
self._add_to_table(name, str(lat),
str(lng), str(distance),
self.landmark_label)
self._clear_inputs()
def _land_add_manual(self):
if not self._is_empty_inputs():
name = self.name_edit_label.getText()
lat = self.latitude_label.getText()
lng = self.longitude_label.getText()
distance = 200
self._add_to_table(name, lat,
lng, str(distance),
self.landmark_label)
self._clear_inputs()
def _land_del(self):
if self.landmark_table_cur_click is not None:
self.landmark_label.removeRow(self.landmark_table_cur_click)
count = self.landmark_label.rowCount()
for x in range(self.landmark_table_cur_click, count):
self.navigation_label.setItem(x,
0,
QtWidgets.
QTableWidgetItem(str(x+1)))
self._clear_inputs()
def _land_save(self):
if not self._is_empty_inputs():
name = self.name_edit_label.getText()
lat = self.latitude_label.getText()
lng = self.longitude_label.getText()
self.landmark_label.setItem(self.landmark_table_cur_click, 0,
QtWidgets.QTableWidgetItem(name))
self.landmark_label.setItem(self.landmark_table_cur_click, 1,
QtWidgets.QTableWidgetItem(lat))
self.landmark_label.setItem(self.landmark_table_cur_click, 2,
QtWidgets.QTableWidgetItem(lng))
self._clear_inputs()
def setup_signals(self, start_signal, def setup_signals(self, start_signal,
signals_and_slots_signal, kill_signal): signals_and_slots_signal, kill_signal):
@@ -78,13 +205,14 @@ class WaypointsCoordinator(QtCore.QThread):
self.run_thread_flag = False self.run_thread_flag = False
def update_manual_entry(self, name, lat, lng, table): def update_manual_entry(self, name, lat, lng, table):
print name, lat, lng, table
self.name_edit_label.setEnabled(bool(table)) self.name_edit_label.setEnabled(bool(table))
self.name_edit_label.setText(name) self.name_edit_label.setText(name)
self.latitude_label.setValue(lat) self.latitude_label.setValue(lat)
self.longitude_label.setValue(lng) self.longitude_label.setValue(lng)
def _on_nav_clicked(self, row, col): def _on_nav_clicked(self, row, col):
self.navigation_table_cur_click = row
self.landmark_table_cur_click = None
self.new_manual_waypoint_entry.emit( self.new_manual_waypoint_entry.emit(
self.navigation_label.item(row, 0).text(), self.navigation_label.item(row, 0).text(),
float(self.navigation_label.item(row, 1).text()), float(self.navigation_label.item(row, 1).text()),
@@ -93,6 +221,8 @@ class WaypointsCoordinator(QtCore.QThread):
) )
def _on_land_clicked(self, row, col): def _on_land_clicked(self, row, col):
self.landmark_table_cur_click = row
self.navigation_table_cur_click = None
self.new_manual_waypoint_entry.emit( self.new_manual_waypoint_entry.emit(
self.landmark_label.item(row, 0).text(), self.landmark_label.item(row, 0).text(),
float(self.landmark_label.item(row, 1).text()), float(self.landmark_label.item(row, 1).text()),