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compare: tri11paragon:2bbd5254a9dfe5c2895a00711892770dacaa272f
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tri11paragon:main

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3918ef5bd5 ... 2bbd5254a9

Author SHA1 Message Date
ParkerTenBroeck 2bbd5254a9 Merge remote-tracking branch 'refs/remotes/origin/main' 2025-04-16 00:12:54 -04:00
ParkerTenBroeck cab78410a4 changed things 2025-04-16 00:12:49 -04:00
Brett ef9216f388 love you <3 2025-04-15 23:25:16 -04:00
12 changed files with 311 additions and 378 deletions
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@ -81,7 +81,7 @@
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</component> </component>
</project> </project>

2
CMakeLists.txt
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@ -49,7 +49,7 @@ macro(blt_add_project name source type)
project(4p78-final-project) project(4p78-final-project)
endmacro() endmacro()
project(4p78-final-project VERSION 0.0.6) project(4p78-final-project VERSION 0.0.7)
option(ENABLE_ADDRSAN "Enable the address sanitizer" OFF) option(ENABLE_ADDRSAN "Enable the address sanitizer" OFF)
option(ENABLE_UBSAN "Enable the ub sanitizer" OFF) option(ENABLE_UBSAN "Enable the ub sanitizer" OFF)

BIN
doc/doc.pdf Normal file
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4
robot/distance.h → robot/distance.cpp
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@ -1,10 +1,12 @@
#include "headers.h"
#include "Adafruit_VL53L0X.h" #include "Adafruit_VL53L0X.h"
Adafruit_VL53L0X lox = Adafruit_VL53L0X(); Adafruit_VL53L0X lox = Adafruit_VL53L0X();
float distanceReading = 0; float distanceReading = 0;
void initDistance(){ void initDistance(){
if (!lox.begin()) { if (!lox.begin(0x29, false, &Wire1, Adafruit_VL53L0X::VL53L0X_SENSE_LONG_RANGE)) {
Serial.println(F("Failed to boot VL53L0X")); Serial.println(F("Failed to boot VL53L0X"));
while(1); while(1);
} }

82
robot/encoder.cpp Normal file
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@ -0,0 +1,82 @@
#include "headers.h"
#include "AS5600.h"
AS5600 as5600_0(&Wire1);
AS5600 as5600_1(&Wire2);
EncoderOdom odom;
void zeroOdom(){
odom.left = 0.0;
odom.right = 0.0;
odom.x = 0.0;
odom.y = 0.0;
odom.angle = 0.0;
wire2();
as5600_0.resetCumulativePosition(0);
wire1();
as5600_1.resetCumulativePosition(0);
}
void initEncoder(){
odom.left = 0.0;
odom.right = 0.0;
odom.x = 0.0;
odom.y = 0.0;
odom.angle = 0.0;
wire2();
as5600_0.begin();
Serial.print("Connect device 0: ");
Serial.println(as5600_0.isConnected() ? "true" : "false");
as5600_0.resetCumulativePosition(0);
wire1();
as5600_1.begin();
Serial.print("Connect device 1: ");
Serial.println(as5600_1.isConnected() ? "true" : "false");
as5600_1.resetCumulativePosition(0);
}
void updateEncoder(){
#define WHEEL_CIRCUM (2*PI*4.0625)
#define WHEEL_DISTANCE (7 + 12.0/16.0)
wire2();
int rawL = as5600_0.getCumulativePosition();
wire1();
int rawR = as5600_1.getCumulativePosition();
float left = rawL/4096.0 * -WHEEL_CIRCUM;
float right = rawR/4096.0 * WHEEL_CIRCUM;
float d_left = left-odom.left;
float d_right= right-odom.right;
odom.left = left;
odom.right = right;
float displacement = (d_left + d_right)/2;
float oldAng = odom.angle;
odom.angle += (d_left-d_right)/(2*WHEEL_DISTANCE);
float ang = (odom.angle+oldAng)/2;
float dispx = odom.x-desiredPos.x;
float dispy = odom.y-desiredPos.y;
posInput = sqrt(dispx*dispx+dispy*dispy);
desiredYaw = atan2(dispy, dispx)*180/PI;
if(abs(fmod(desiredYaw-currentYaw, 180.0))<90){
desiredYaw = fmod(desiredYaw+180.0, 360.0);
if(desiredYaw>180)desiredYaw-=180.0;
posInput = -posInput;
}
// Serial.println(desiredYaw);
odom.x += (float)(cos(ang)*displacement);
odom.y += (float)(sin(ang)*displacement);
}

50
robot/encoder.h
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@ -1,50 +0,0 @@
struct Encoder{
int rotations;
int currentAngle;
int estAngle;
bool threashhold;
float position(){
return rotations + (estAngle / 360.0);
}
};
Encoder encoder;
void initEncoder(){
pinMode(A0, INPUT);
encoder.currentAngle = 0;
encoder.rotations = 0;
encoder.estAngle=0;
encoder.threashhold=false;
}
void updateEncoder(){
int rawIn = analogRead(A0);
// static long lastRan = 0;
// if(50>millis()-lastRan) return;
// lastRan = millis();
int rotation = map(rawIn, 4, 348, 0, 360);
int diff = rotation-encoder.currentAngle;
if(!encoder.threashhold && (abs(diff)>=50)){
encoder.threashhold=true;
if(diff<0){
encoder.rotations++;
encoder.estAngle = 0;
}
if(diff>0){
encoder.rotations--;
encoder.estAngle = 360;
}
}
if(abs(diff)<30){
encoder.threashhold=false;
encoder.estAngle = rotation;
}
encoder.currentAngle = rotation;
}

22
robot/gyro.h → robot/gyro.cpp
View File

@ -1,12 +1,8 @@
#include "headers.h"
#include "MPU6050_6Axis_MotionApps612.h" #include "MPU6050_6Axis_MotionApps612.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file //#include "MPU6050.h" // not necessary if using MotionApps include file
MPU6050 mpu(MPU6050_ADDRESS_AD0_LOW, &Wire1);
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
MPU6050 mpu;
// MPU control/status vars // MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful bool dmpReady = false; // set true if DMP init was successful
@ -54,6 +50,8 @@ void initGyro(){
Serial.println(F("Initializing DMP...")); Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize(); devStatus = mpu.dmpInitialize();
// mpu.setRate(0);
// supply your own gyro offsets here, scaled for min sensitivity // supply your own gyro offsets here, scaled for min sensitivity
mpu.setXAccelOffset(-6009); mpu.setXAccelOffset(-6009);
@ -102,17 +100,15 @@ void initGyro(){
bool updateGyro(){ bool updateGyro(){
if (!dmpReady) return false; if (!dmpReady) return false;
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
// Xf = 1/4*(aaRealLast.x + aaReal.x)t^2 + Vot + Xo
// aaRealLast = aaReal;
mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer); // mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGyro(&gy, fifoBuffer); // mpu.dmpGetGyro(&gy, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
mpu.dmpGetEuler(euler, &q); // mpu.dmpGetEuler(euler, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); // mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); // mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
return true; return true;
} }

114
robot/headers.h Normal file
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@ -0,0 +1,114 @@
#define LOOP_INTERVAL_MS 20
struct FVec2{
float x,y;
};
struct FVec3{
float x,y,z;
};
struct FVec4{
float x,y,z;
};
extern FVec2 desiredPos;
struct Everything{
float motorTargetAngle;
float position;
FVec3 anglePID;
FVec3 posPID;
FVec3 ypr;
FVec3 euler;
FVec3 gravity;
FVec4 q;
FVec3 aa;
FVec3 gy;
FVec3 aaReal;
FVec3 aaWorld;
};
extern float angleOffset;
extern float desiredYaw;
extern float currentYaw;
struct DebugState{
int motorTargetAngle;
};
extern DebugState dbgState;
//-------- wire
#include <Wire.h>
#define Wire1 Wire
#define Wire2 Wire
void wire1();
void wire2();
//-------- gyro
#include "MPU6050_6Axis_MotionApps612.h"
extern Quaternion q; // [w, x, y, z] quaternion container
extern VectorInt16 aa; // [x, y, z] accel sensor measurements
extern VectorInt16 gy; // [x, y, z] gyro sensor measurements
extern VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
extern VectorInt16 aaRealLast; // [x, y, z] gravity-free accel sensor measurements
extern VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
extern VectorFloat gravity; // [x, y, z] gravity vector
extern float euler[3]; // [psi, theta, phi] Euler angle container
extern float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
void initGyro();
bool updateGyro();
//-------- distance
extern float distanceReading;
void initDistance();
void updateDistance();
//-------- encoder
struct EncoderOdom{
float x;
float y;
float angle;
float left;
float right;
};
extern EncoderOdom odom;
void zeroOdom();
void initEncoder();
void updateEncoder();
//--------- pid
#include <PID_v1.h>
#define PID_ARR_COUNT 3
extern PID* pids[];
extern double angleInput, angleOutput, angleSetpoint;
extern PID anglePID;
extern double posInput, posOutput, posSetpoint;
extern PID posPID;
extern double turnInput, turnOutput, turnSetpoint;
extern PID turnPID;
struct Speeds{
float left;
float right;
};
Speeds updatePID();
void initPID();
//--------- webserver
void initWifi(bool host);
void initServer();

15
robot/pid.h → robot/pid.cpp
View File

@ -1,3 +1,4 @@
#include "headers.h"
#include <PID_v1.h> #include <PID_v1.h>
//double angKp=3.5, angKi=80, angKd=0.042; //double angKp=3.5, angKi=80, angKd=0.042;
@ -17,9 +18,9 @@ double posInput, posOutput, posSetpoint;
PID posPID(&posInput, &posOutput, &posSetpoint, posKp, posKi, posKd, P_ON_E, DIRECT); PID posPID(&posInput, &posOutput, &posSetpoint, posKp, posKi, posKd, P_ON_E, DIRECT);
double turnInput, turnOutput, turnSetpoint; double turnInput, turnOutput, turnSetpoint;
PID turnPID(&turnInput, &turnOutput, &turnSetpoint, turnKp, turnKi, turnKd, P_ON_E, REVERSE); PID turnPID(&turnInput, &turnOutput, &turnSetpoint, turnKp, turnKi, turnKd, P_ON_E, DIRECT);
PID* pids[] = {&anglePID, &posPID, &turnPID}; PID* pids[PID_ARR_COUNT] = {&anglePID, &posPID, &turnPID};
void initPID(){ void initPID(){
angleSetpoint = 0; angleSetpoint = 0;
@ -39,11 +40,7 @@ void initPID(){
turnPID.SetSampleTime(5); turnPID.SetSampleTime(5);
} }
struct Speeds{
float left;
float right;
};
Speeds updatePID(){ Speeds updatePID(){
posPID.Compute(); posPID.Compute();
angleSetpoint = posOutput; angleSetpoint = posOutput;
@ -51,8 +48,8 @@ Speeds updatePID(){
float maxTurn = max(0.0f, 15.0f-abs((float)angleOutput)); float maxTurn = max(0.0f, 15.0f-abs((float)angleOutput));
turnPID.SetOutputLimits(-maxTurn, maxTurn); turnPID.SetOutputLimits(-maxTurn, maxTurn);
turnSetpoint = desiredYaw; turnSetpoint = 0;
turnInput = currentYaw; turnInput = fmod(currentYaw-desiredYaw, 180);
turnPID.Compute(); turnPID.Compute();
Speeds speeds; Speeds speeds;

57
robot/robot.ino
View File

@ -1,5 +1,16 @@
#include "I2Cdev.h"
#include "headers.h"
void wire1(){
Wire1.begin(SDA, SCL);
Wire1.setClock(400000);
}
void wire2(){
Wire1.begin(D7, D5);
Wire2.setClock(400000);
}
#include <Servo.h> #include <Servo.h>
@ -10,19 +21,10 @@ float angleOffset = -2.4241745;
float desiredYaw = 0.0; float desiredYaw = 0.0;
float currentYaw = 0.0; float currentYaw = 0.0;
struct DebugState{ FVec2 desiredPos;
int motorTargetAngle;
};
DebugState dbgState; DebugState dbgState;
#include "distance.h"
#include "encoder.h"
#include "gyro.h"
#include "pid.h"
#include "webserver.h"
void initSerial(){ void initSerial(){
Serial.begin(115200); Serial.begin(115200);
while (!Serial); while (!Serial);
@ -36,11 +38,10 @@ void initMotors(){
} }
void initI2C(){ void initI2C(){
digitalWrite(D2, LOW); delay(100);
digitalWrite(D1, LOW);
delay(100); wire2();
Wire.begin(); wire1();
Wire.setClock(400000);
} }
void setup() { void setup() {
@ -50,23 +51,24 @@ void setup() {
initMotors(); initMotors();
initPID(); initPID();
initI2C(); initI2C();
initEncoder();
initDistance(); initDistance();
initGyro(); initGyro();
initEncoder();
} }
void loop() { void loop() {
long start = millis();
if (updateGyro()) { //gyro data if (updateGyro()) { //gyro data
currentYaw=ypr[0]*180/M_PI;
double angle = ypr[1] * 180 / M_PI; double angle = ypr[1] * 180 / M_PI;
if(angle>180) if(angle>180)
angle -= 180; angle -= 180;
angleInput = angle + angleOffset; angleInput = angle + angleOffset;
} }
{// encoder data
updateEncoder(); updateEncoder();
posInput = encoder.position(); currentYaw=odom.angle*180/M_PI;
}
updateDistance(); updateDistance();
@ -76,6 +78,13 @@ void loop() {
speeds.right = min(90.0f-10, max(-90.0f+10, speeds.right)); speeds.right = min(90.0f-10, max(-90.0f+10, speeds.right));
left.write(90+(int)speeds.left); left.write(90+(int)speeds.left);
right.write(90+(int)speeds.right); right.write(90+(int)speeds.right);
long end = millis();
delay(5); if(end-start>LOOP_INTERVAL_MS){
Serial.print("Overran ");
Serial.println(end-start);
}else{
delay(LOOP_INTERVAL_MS-(end-start));
}
} }

57
robot/webserver.h → robot/webserver.cpp
View File

@ -1,3 +1,5 @@
#include "headers.h"
#include <ESP8266WiFi.h> #include <ESP8266WiFi.h>
#include <ESPAsyncTCP.h> #include <ESPAsyncTCP.h>
#include <ESPAsyncWebServer.h> #include <ESPAsyncWebServer.h>
@ -31,48 +33,31 @@ void initWifi(bool host){
Serial.println(WiFi.localIP()); Serial.println(WiFi.localIP());
} }
struct FVec3{
float x,y,z;
};
struct FVec4{
float x,y,z;
};
struct Everything{
float motorTargetAngle;
float position;
FVec3 anglePID;
FVec3 posPID;
FVec3 ypr;
FVec3 euler;
FVec3 gravity;
FVec4 q;
FVec3 aa;
FVec3 gy;
FVec3 aaReal;
FVec3 aaWorld;
};
void initServer(){ void initServer(){
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){ server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
request->send_P(200, "text/html", index_html); request->send_P(200, "text/html", index_html);
}); });
server.on("/get_stuff_bin", HTTP_GET, [](AsyncWebServerRequest *request){ server.on("/get_stuff_bin", HTTP_GET, [](AsyncWebServerRequest *request){
static float arr[4];
arr[0] = odom.angle;
arr[1] = distanceReading;
arr[2] = odom.x;
arr[3] = odom.y;
request->send(200, "application/octet-stream", (uint8_t*)(const char*)arr, sizeof(arr));
});
server.on("/fuckyou", HTTP_GET, [](AsyncWebServerRequest *request){
float arr[] = { float arr[] = {
dbgState.motorTargetAngle, odom.angle,
encoder.position(), distanceReading,
angleSetpoint, angleInput, angleOutput, odom.x,
posSetpoint, posInput, posOutput, odom.y
ypr[0]*180/M_PI, ypr[1]*180/M_PI, ypr[2]*180/M_PI,
euler[0]*180/M_PI, euler[1]*180/M_PI, euler[2]*180/M_PI,
gravity.x, gravity.y, gravity.z,
q.w, q.x, q.y, q.z,
aa.x, aa.y, aa.z,
gy.x, gy.y, gy.z,
aaReal.x, aaReal.y, aaReal.z,
aaWorld.x, aaWorld.y, aaWorld.z
}; };
request->send(200, "application/text", (const uint8_t*)arr, sizeof(arr)*4); request->send(200, "application/text", "hello");
});
server.on("/zero", HTTP_GET, [](AsyncWebServerRequest *request){
zeroOdom();
request->send(200);
}); });
server.on("/get_stuff", HTTP_GET, [](AsyncWebServerRequest *request){ server.on("/get_stuff", HTTP_GET, [](AsyncWebServerRequest *request){
char buff[1024]; char buff[1024];
@ -84,6 +69,7 @@ void initServer(){
"anglePID": {"setpoint": %lf, "input": %lf, "output": %lf}, "anglePID": {"setpoint": %lf, "input": %lf, "output": %lf},
"posPID": {"setpoint": %lf, "input": %lf, "output": %lf}, "posPID": {"setpoint": %lf, "input": %lf, "output": %lf},
"turnPID": {"setpoint": %lf, "input": %lf, "output": %lf}, "turnPID": {"setpoint": %lf, "input": %lf, "output": %lf},
"odom": {"left": %f, "right": %f, "x": %f, "y": %f, "angle": %f},
"ypr": {"yaw": %f, "pitch": %f, "roll": %f}, "ypr": {"yaw": %f, "pitch": %f, "roll": %f},
"euler": {"psi": %f, "theta": %f, "phi": %f}, "euler": {"psi": %f, "theta": %f, "phi": %f},
"gravity": {"x": %f, "y": %f, "z": %f}, "gravity": {"x": %f, "y": %f, "z": %f},
@ -95,10 +81,11 @@ void initServer(){
})", })",
(float)dbgState.motorTargetAngle, (float)dbgState.motorTargetAngle,
(float)distanceReading, (float)distanceReading,
encoder.position(), 0.0, //encoder.position(),
angleSetpoint, angleInput, angleOutput, angleSetpoint, angleInput, angleOutput,
posSetpoint, posInput, posOutput, posSetpoint, posInput, posOutput,
turnSetpoint, turnInput, turnOutput, turnSetpoint, turnInput, turnOutput,
odom.left, odom.right, odom.x, odom.y, odom.angle,
ypr[0]*180/M_PI, ypr[1]*180/M_PI, ypr[2]*180/M_PI, ypr[0]*180/M_PI, ypr[1]*180/M_PI, ypr[2]*180/M_PI,
euler[0]*180/M_PI, euler[1]*180/M_PI, euler[2]*180/M_PI, euler[0]*180/M_PI, euler[1]*180/M_PI, euler[2]*180/M_PI,
gravity.x, gravity.y, gravity.z, gravity.x, gravity.y, gravity.z,

46
src/main.cpp
View File

@ -14,14 +14,16 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>. * along with this program. If not, see <https://www.gnu.org/licenses/>.
*/ */
#include <deque>
#include <imgui.h> #include <imgui.h>
#include <string>
#include <blt/gfx/window.h> #include <blt/gfx/window.h>
#include <blt/gfx/renderer/font_renderer.h>
#include <blt/std/requests.h>
#include <blt/std/time.h> #include <blt/std/time.h>
#include "blt/gfx/renderer/batch_2d_renderer.h" #include "blt/gfx/renderer/batch_2d_renderer.h"
#include "blt/gfx/renderer/camera.h" #include "blt/gfx/renderer/camera.h"
#include "blt/gfx/renderer/resource_manager.h" #include "blt/gfx/renderer/resource_manager.h"
#include <string>
#include <blt/std/requests.h>
#ifdef __EMSCRIPTEN__ #ifdef __EMSCRIPTEN__
#include <emscripten.h> #include <emscripten.h>
@ -31,10 +33,12 @@
blt::gfx::matrix_state_manager global_matrices; blt::gfx::matrix_state_manager global_matrices;
blt::gfx::resource_manager resources; blt::gfx::resource_manager resources;
blt::gfx::batch_renderer_2d renderer_2d(resources, global_matrices); blt::gfx::batch_renderer_2d renderer_2d(resources, global_matrices);
blt::gfx::font_renderer_t fr2d{};
blt::gfx::first_person_camera_2d camera; blt::gfx::first_person_camera_2d camera;
std::array<char, 100> buffer; std::array<char, 100> buffer;
size_t last_time_ran = 0; size_t last_time_ran = 0;
size_t last_time_ran1 = 0;
bool ready = false; bool ready = false;
@ -66,12 +70,30 @@ blt::vec2 current_position;
struct boy_trust_t struct boy_trust_t
{ {
std::vector<blt::vec2f> point_cloud; std::deque<blt::vec2f> point_cloud;
std::vector<blt::gfx::line2d_t> lines; std::vector<blt::gfx::line2d_t> lines;
void consolidate(blt::u64 run_time) void consolidate(const blt::u64 run_time)
{ {
const auto cur_time = blt::system::getCurrentTimeMilliseconds();
if (cur_time - last_time_ran1 > run_time)
{
last_time_ran1 = cur_time;
// constexpr float min_dist = 5;
// for (auto [i, a] : enumerate(point_cloud))
// {
// for (auto [j, b] : enumerate(point_cloud))
// {
// if (i == j)
// continue;
// auto diff = (a - b).abs();
// if (diff.x() < min_dist && diff.y() < min_dist)
// {
//
// }
// }
// }
}
} }
} point_data; } point_data;
@ -96,6 +118,7 @@ bool check_for_request(needed_t& data)
} }
std::memcpy(&data, result.data(), sizeof(needed_t)); std::memcpy(&data, result.data(), sizeof(needed_t));
data.position *= 25.4; data.position *= 25.4;
data.yaw = static_cast<float>(2 * blt::PI) - data.yaw;
// blt::mem::fromBytes<true>(result.data(), data.yaw); // blt::mem::fromBytes<true>(result.data(), data.yaw);
// blt::mem::fromBytes<true>(result.data() + sizeof(float), data.distance); // blt::mem::fromBytes<true>(result.data() + sizeof(float), data.distance);
// blt::mem::fromBytes<true>(result.data() + sizeof(float) * 2, data.position); // blt::mem::fromBytes<true>(result.data() + sizeof(float) * 2, data.position);
@ -126,6 +149,7 @@ void init(const blt::gfx::window_data&)
global_matrices.create_internals(); global_matrices.create_internals();
resources.load_resources(); resources.load_resources();
renderer_2d.create(); renderer_2d.create();
fr2d.create_default(250, 2048);
} }
void update(const blt::gfx::window_data& data) void update(const blt::gfx::window_data& data)
@ -158,11 +182,19 @@ void update(const blt::gfx::window_data& data)
} }
ImGui::End(); ImGui::End();
needed_t robot_data; static needed_t robot_data;
if (check_for_request(robot_data)) if (check_for_request(robot_data))
{ {
handle_data(robot_data); handle_data(robot_data);
} }
renderer_2d.drawPoint(blt::gfx::point2d_t{robot_data.position, 35}, blt::make_color(0, 0, 1), 3);
renderer_2d.drawLine(blt::gfx::line2d_t{robot_data.position, {0, 0}}, blt::make_color(0, 0, 1), 2);
fr2d.render_text("Yaw " + std::to_string(robot_data.yaw), 32).setPosition(robot_data.position + blt::vec2{10, 0});
blt::vec2f current_position;
current_position[0] = robot_data.position[0] + 100 * std::cos(robot_data.yaw);
current_position[1] = robot_data.position[1] + 100 * std::sin(robot_data.yaw);
renderer_2d.drawLine(blt::gfx::line2d_t{robot_data.position, current_position}, blt::make_color(1, 0, 0), 2);
for (const auto& point_cloud : point_data.point_cloud) for (const auto& point_cloud : point_data.point_cloud)
renderer_2d.drawPoint(blt::gfx::point2d_t{point_cloud, point_size}, blt::make_color(0, 1, 0), 1); renderer_2d.drawPoint(blt::gfx::point2d_t{point_cloud, point_size}, blt::make_color(0, 1, 0), 1);
@ -170,6 +202,7 @@ void update(const blt::gfx::window_data& data)
renderer_2d.drawLine(line, blt::make_color(1, 0, 0), 0); renderer_2d.drawLine(line, blt::make_color(1, 0, 0), 0);
renderer_2d.render(data.width, data.height); renderer_2d.render(data.width, data.height);
fr2d.render();
} }
void destroy(const blt::gfx::window_data&) void destroy(const blt::gfx::window_data&)
@ -177,6 +210,7 @@ void destroy(const blt::gfx::window_data&)
global_matrices.cleanup(); global_matrices.cleanup();
resources.cleanup(); resources.cleanup();
renderer_2d.cleanup(); renderer_2d.cleanup();
fr2d.cleanup();
blt::gfx::cleanup(); blt::gfx::cleanup();
} }