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TeensyNanoExoCode
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contains general utility functions for the exo More...
Classes | |
| union | FloatByteUnion |
| union | ShortIntByteUnion |
| class | SpeedCheck |
| Class used to check the loop speed without serial prints, by toggling a pin after initialized, toggle will need to be called each loop. More... | |
Functions | |
| bool | get_is_left (config_defs::joint_id id) |
| Takes in the joint id and returns if the left indicator bit is set as a bool. | |
| bool | get_is_left (uint8_t id) |
| Takes in the joint id and returns if the left indicator bit is set as a bool. | |
| uint8_t | get_joint_type (config_defs::joint_id id) |
| Takes in the joint id and returns the id with the left/right bits masked out. Returning uint8_t rather than joint_id type since we have to typecast to do logical stuff anyways. | |
| uint8_t | get_joint_type (uint8_t id) |
| Takes in the joint id and returns the id with the left/right bits masked out. Returning uint8_t rather than joint_id type since we have to typecast to do logical stuff anyways. | |
| bool | schmitt_trigger (float value, bool is_high, float lower_threshold, float upper_threshold) |
| Returns the new state of the system based on the value and past state. Takes in the current value, if the state is currently high, and the lower and upper threshold Floats are used so that ints will be promoted but it will still work with floats. May cause issues with very large ints. Templates could be used in the future but seemed to have issues if all types were not present in the template, e.g. is_high is always a bool. A schmitt trigger is a way of tracking if a noisy signal is high or low When it is low it must go above the upper threshold before it is high When it is high it must go below the lower threshold before it is low. This way if the signal crosses one threshold multiple times it won't register as changing multiple times. | |
| int | rate_limit (int setpoint, int last_value, int *last_time, int rate_per_ms) |
| Limits the rate at which a value can change. This is useful when you would like a variable to gradually come on. | |
| uint8_t | update_bit (uint8_t original, bool val, uint8_t loc) |
| sets/clears the specified bit in a unit8_t. | |
| uint16_t | update_bit (uint16_t original, bool val, uint8_t loc) |
| sets/clears the specified bit in a unit16_t. | |
| bool | get_bit (uint8_t original, uint8_t loc) |
| Returns the bit in a specific location in a uint8_t. | |
| bool | get_bit (uint16_t original, uint8_t loc) |
| Returns the bit in a specific location in a uint16. | |
| float | degrees_to_radians (float) |
| converts from degrees to radians | |
| float | radians_to_degrees (float) |
| converts from radians to degrees | |
| String | remove_all_chars (String str, char rmv) |
| Searches str for 'rmv characters and deletes them all, returns new string todo: Chance update comments. | |
| String | remove_all_chars (char *arr, char rmv) |
| int | get_char_length (int ofInt) |
| given and integer, return the number of characters in it todo: Chance update comments | |
| bool | is_little_endian () |
| Returns 1 if system uses little endian floating points. This confirms that the floating points match if not the byte order needs to be flipped. Not tested with big endian or 64 bit systems. | |
| void | float_to_uint8 (float num_to_convert, uint8_t *converted_bytes) |
| Takes in a float and a byte array reference Puts the bytes of the float into the array in little endian Not tested with big endian or 64 bit systems. | |
| void | uint8_to_float (uint8_t *bytes_to_convert, float *converted_float) |
| Takes in a byte array address in little endian form containing a broken up float Returns a reconstituted float from the bytes in the form (endianess) the system uses. Not tested with big endian or 64 bit systems. | |
| void | float_to_short_fixed_point_bytes (float num_to_convert, uint8_t *converted_bytes, uint8_t factor) |
| converts float into individual bytes of a fixed point short. | |
| void | short_fixed_point_bytes_to_float (uint8_t *bytes_to_convert, float *converted_val, uint8_t factor) |
| converts a set of bytes in a fixed point short int into a float | |
| float | ewma (float new_value, float filter_value, float alpha) |
| Exponential Weighted Moving Average. Used to smooth out noisy data. | |
| uint8_t | ff_to_fe (uint8_t val) |
| void | spin_on_error_with (String message) |
| Never returns from this function, used for critical errors. | |
| bool | is_close_to (float val1, float val2, float tolerance) |
| Checks if two floats are close to each other within a tolerance. | |
| std::pair< float, float > | online_std_dev (std::queue< float > set) |
| Given a set of data and maximum size. Returns the new mean and standard deviation. | |
| bool | is_outside_range (float val, float min, float max) |
| Checks if a value is outside of a range. | |
| String | remove_all_chars (char *arr, int len, char rmv) |
| template<typename T > | |
| int | elements_are_equal (T arr1, T arr2, int length) |
| Checks if all elements of the array are equal. Arrays must be the same length and type todo: Chance update comments. | |
| template<typename T > | |
| void | set_elements_equal (T arr1, T arr2, int length) |
| Sets arr2 elements equal to arr1 elements. Arrays must be the same length and type todo: Chance update comments. | |
contains general utility functions for the exo
| float utils::degrees_to_radians | ( | float | ) |
converts from degrees to radians
| a | degree value |
| int utils::elements_are_equal | ( | T | arr1, |
| T | arr2, | ||
| int | length | ||
| ) |
Checks if all elements of the array are equal. Arrays must be the same length and type todo: Chance update comments.
| float utils::ewma | ( | float | new_value, |
| float | filter_value, | ||
| float | alpha | ||
| ) |
Exponential Weighted Moving Average. Used to smooth out noisy data.
| new_value | New value to add to the filter |
| filter_value | Previous value of the filter |
| alpha | Tuning parameter, 0.0 < alpha < 1.0 |
| uint8_t utils::ff_to_fe | ( | uint8_t | val | ) |
| void utils::float_to_short_fixed_point_bytes | ( | float | num_to_convert, |
| uint8_t * | converted_bytes, | ||
| uint8_t | factor | ||
| ) |
converts float into individual bytes of a fixed point short.
| float | to convert |
| array | of sizeof(short int) to store the individual bytes |
| void utils::float_to_uint8 | ( | float | num_to_convert, |
| uint8_t * | converted_bytes | ||
| ) |
Takes in a float and a byte array reference Puts the bytes of the float into the array in little endian Not tested with big endian or 64 bit systems.
| float | to convert |
| array | of sizeof(float) to store the individual bytes |
| bool utils::get_bit | ( | uint16_t | original, |
| uint8_t | loc | ||
| ) |
Returns the bit in a specific location in a uint16.
| the | uint16_t to read |
| the | location of the bit to read |
| bool utils::get_bit | ( | uint8_t | original, |
| uint8_t | loc | ||
| ) |
Returns the bit in a specific location in a uint8_t.
| the | uint8_t to read |
| the | location of the bit to read |
| int utils::get_char_length | ( | int | ofInt | ) |
given and integer, return the number of characters in it todo: Chance update comments
| bool utils::get_is_left | ( | config_defs::joint_id | id | ) |
Takes in the joint id and returns if the left indicator bit is set as a bool.
| joint | id |
| bool utils::get_is_left | ( | uint8_t | id | ) |
Takes in the joint id and returns if the left indicator bit is set as a bool.
| joint | id |
| uint8_t utils::get_joint_type | ( | config_defs::joint_id | id | ) |
Takes in the joint id and returns the id with the left/right bits masked out. Returning uint8_t rather than joint_id type since we have to typecast to do logical stuff anyways.
| joint | id |
| uint8_t utils::get_joint_type | ( | uint8_t | id | ) |
Takes in the joint id and returns the id with the left/right bits masked out. Returning uint8_t rather than joint_id type since we have to typecast to do logical stuff anyways.
| joint | id |
| bool utils::is_close_to | ( | float | val1, |
| float | val2, | ||
| float | tolerance | ||
| ) |
Checks if two floats are close to each other within a tolerance.
| val1 | |
| val2 | |
| tolerance |
| bool utils::is_little_endian | ( | ) |
Returns 1 if system uses little endian floating points. This confirms that the floating points match if not the byte order needs to be flipped. Not tested with big endian or 64 bit systems.
| bool utils::is_outside_range | ( | float | val, |
| float | min, | ||
| float | max | ||
| ) |
Checks if a value is outside of a range.
| val | |
| min | |
| max |
| std::pair< float, float > utils::online_std_dev | ( | std::queue< float > | set | ) |
Given a set of data and maximum size. Returns the new mean and standard deviation.
| set | Queue of data to calculate the mean and standard deviation of |
| float utils::radians_to_degrees | ( | float | ) |
converts from radians to degrees
| a | radian value |
| int utils::rate_limit | ( | int | setpoint, |
| int | last_value, | ||
| int * | last_time, | ||
| int | rate_per_ms | ||
| ) |
Limits the rate at which a value can change.
This is useful when you would like a variable to gradually come on.
| current | value the system is moving towards |
| the | previous value the system was at |
| pointer | to the last time the output value was set |
| rate | the value can change per ms |
| String utils::remove_all_chars | ( | char * | arr, |
| char | rmv | ||
| ) |
| String utils::remove_all_chars | ( | char * | arr, |
| int | len, | ||
| char | rmv | ||
| ) |
| String utils::remove_all_chars | ( | String | str, |
| char | rmv | ||
| ) |
Searches str for 'rmv characters and deletes them all, returns new string todo: Chance update comments.
| bool utils::schmitt_trigger | ( | float | value, |
| bool | is_high, | ||
| float | lower_threshold, | ||
| float | upper_threshold | ||
| ) |
Returns the new state of the system based on the value and past state. Takes in the current value, if the state is currently high, and the lower and upper threshold Floats are used so that ints will be promoted but it will still work with floats. May cause issues with very large ints. Templates could be used in the future but seemed to have issues if all types were not present in the template, e.g. is_high is always a bool. A schmitt trigger is a way of tracking if a noisy signal is high or low When it is low it must go above the upper threshold before it is high When it is high it must go below the lower threshold before it is low. This way if the signal crosses one threshold multiple times it won't register as changing multiple times.
| The | current signal reading |
| The | current state of the trigger |
| The | lower threshold a high signal must pass to go low |
| The | upper threshold a low signal must pass to go high |
| void utils::set_elements_equal | ( | T | arr1, |
| T | arr2, | ||
| int | length | ||
| ) |
Sets arr2 elements equal to arr1 elements. Arrays must be the same length and type todo: Chance update comments.
| void utils::short_fixed_point_bytes_to_float | ( | uint8_t * | bytes_to_convert, |
| float * | converted_val, | ||
| uint8_t | factor | ||
| ) |
converts a set of bytes in a fixed point short int into a float
| array | of size sizeof(short int) containing the bytes to convert |
| pointer | to place the converted value into |
| void utils::spin_on_error_with | ( | String | message | ) |
Never returns from this function, used for critical errors.
| message |
| void utils::uint8_to_float | ( | uint8_t * | bytes_to_convert, |
| float * | converted_float | ||
| ) |
Takes in a byte array address in little endian form containing a broken up float Returns a reconstituted float from the bytes in the form (endianess) the system uses. Not tested with big endian or 64 bit systems.
| array | of size sizeof(float) containing the bytes to convert |
| pointer | to place the converted value into |
| uint16_t utils::update_bit | ( | uint16_t | original, |
| bool | val, | ||
| uint8_t | loc | ||
| ) |
sets/clears the specified bit in a unit16_t.
| The | original uint16_t |
| The | bit value you would like to use |
| The | location you are placing that bit. |
| uint8_t utils::update_bit | ( | uint8_t | original, |
| bool | val, | ||
| uint8_t | loc | ||
| ) |
sets/clears the specified bit in a unit8_t.
| The | original uint8_t |
| The | bit value you would like to use |
| The | location you are placing that bit. |
1.9.7