From d558a75ffad91a35478625f16a68362d1f89fd98 Mon Sep 17 00:00:00 2001 From: Chris Gerth Date: Thu, 26 Sep 2024 23:33:26 -0500 Subject: [PATCH] obstacle telemetry --- humanInterface/driverInterface.py | 2 +- navigation/repulsorFieldPlanner.py | 2 ++ obstacle.png | Bin 0 -> 5923 bytes simgui-ds.json | 14 +++++++++++--- simgui.json | 2 ++ 5 files changed, 16 insertions(+), 4 deletions(-) create mode 100644 obstacle.png diff --git a/humanInterface/driverInterface.py b/humanInterface/driverInterface.py index 9346fad..1f84f18 100644 --- a/humanInterface/driverInterface.py +++ b/humanInterface/driverInterface.py @@ -63,7 +63,7 @@ def update(self): self.navToSpeaker = self.ctrl.getBButton() self.navToPickup = self.ctrl.getXButton() - self.createObstacle = self.ctrl.getRightBumper() + self.createObstacle = self.ctrl.getYButtonPressed() self.connectedFault.setNoFault() diff --git a/navigation/repulsorFieldPlanner.py b/navigation/repulsorFieldPlanner.py index 8a8801d..17581d6 100644 --- a/navigation/repulsorFieldPlanner.py +++ b/navigation/repulsorFieldPlanner.py @@ -136,6 +136,8 @@ def getObstacleTransList(self) -> list[Translation2d]: retArr = [] for obstacle in self.fixedObstacles: retArr.extend(obstacle.getTelemTrans()) + for obstacle in self.transientObstcales: + retArr.extend(obstacle.getTelemTrans()) return retArr diff --git a/obstacle.png b/obstacle.png new file mode 100644 index 0000000000000000000000000000000000000000..f32bec7342fe6028d676981ff483a5c118af77f2 GIT binary patch literal 5923 zcmYjVc|4Tc|3A;;k!MnwA(X_Jv9#Grn_?c**!T8piBc%nw}mz_OX(UVh9q@mRFW2z zt|f_4DMBHkTS6LLDy9Z8X7D@Hy?^}v@Z!AB=X^e&^Ep26^L|dEkC*ez>3Y)v05e@( zSnB~m;GYPzV2l7Leqp0=HOmOFwem@*wVGf=S02HREE4Hh`F=?O6Z&3iudaV3G z9;8ML0HE{0mF2MU$hLt?qGbI|ItdXmS-<%i(^oTT4)5?zgx1M*rc%uUBfsdA40tQ4 z#}8BecWdRI5&TXv4$HnU&~j&4W#ERCggHs@!Y8km4i1Wx1w&nfBF)=`0?3+ zsg$sK>B2b0;33)I%MbnU>n)>SoqjJDW`8heG}TBldQ(=`_e<(6xnHP2d+w$&IvKMv zH=d~PogDfLV`MYpsyOv3cDm>P5i2^f7;37IvEUg&y%7N)gE-Q^$9)Y9rzE1U&bzuv zNDI#n=OQM#?P>n%w_K>xN~pkXt4r5K@s03jh;@@1QY*f{w<2)cZWqR>@6O>EZ^yk3 z^Da7elnO}STPGWPhvnlNTpMT#N}0ovvJMXK26ZMzJ>GH4E?$Ga9M7EI;{Z_Z*oaFa z!X(c^sRFuvZo8_{Jp_4MC6}j{%LJ7(3azVdsjSVbEzv?ZP5d1yz zu>f%?`y%1tN!~8FQ}(n!)QN^oQy+t-9x09tNu~nW9V(PL=QHQUU#;A^Y9nx&974t; 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