interpolation_maps.h

Go to the documentation of this file.

 
 
#pragma once
 
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/length.h>
 
#include <array>
 
#include "argos_lib/general/interpolation.h"
 
namespace controllerMap {
  using argos_lib::InterpMapPoint;
 
  [[maybe_unused]] constexpr std::array driveSpeed{
      InterpMapPoint{-1.0, -0.7}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.9}};
  [[maybe_unused]] constexpr std::array driveSpeed_placing{
      InterpMapPoint{-1.0, -0.35}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.35}};
  [[maybe_unused]] constexpr std::array driveSpeed_placing_lowAlgae{
      InterpMapPoint{-1.0, -0.4}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.4}};
  [[maybe_unused]] constexpr std::array driveSpeed_intake{
      InterpMapPoint{-1.0, -0.3}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.35}};
  [[maybe_unused]] constexpr std::array driveSpeed_intakeAlgae{
      InterpMapPoint{-1.0, -0.4}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.45}};
  [[maybe_unused]] constexpr std::array driveRotSpeed{
      InterpMapPoint{-1.0, -1.0}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 1.0}};
  [[maybe_unused]] constexpr std::array driveRotSpeed_placing{
      InterpMapPoint{-1.0, -0.5}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.5}};
  [[maybe_unused]] constexpr std::array elevatorSpeed{
      InterpMapPoint{-1.0, -0.5}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.5}};
  [[maybe_unused]] constexpr std::array elevatorRotateSpeed{
      InterpMapPoint{-1.0, -0.2}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.2}};
  [[maybe_unused]] constexpr std::array climberSpeed{
      InterpMapPoint{-1.0, -0.2}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 0.2}};
}  // namespace controllerMap