Clean up the rest of swerve

src/CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.13) # Latest versions of Ubuntu should have at least 3.16;
-                                     # argparse library requires 3.12.4 currently
+cmake_minimum_required(VERSION 3.13) #Latest versions of Ubuntu should have at least 3.16;
+#argparse library requires 3.12.4 currently
 
 set(CMAKE_CXX_STANDARD 17) # 11 For the json library, 17 for std library features
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -8,13 +8,14 @@ project(Rover LANGUAGES CXX C)
 
 include(FetchContent)
 
-# If a build type was not explicitly specified, default to "RelWithDebInfo" (Same optimization
-# as the "Release" configuration but with debugging symbols).
+#If a build type was not explicitly specified, default to "RelWithDebInfo"(Same optimization
+#as the "Release" configuration but with debugging symbols).
 #
-# To change, you can pass -DCMAKE_BUILD_TYPE=... where ... is the configuration you would like
-# to use. For example, if you want to do a full debug build (little to no optimization, with
-# debugging symbols), add -DCMAKE_BUILD_TYPE=Debug to your `cmake` command. You may want to do
-# a full debug build if code you want to debug gets optimized out by the compiler.
+#To change, you can pass - DCMAKE_BUILD_TYPE = ... where... is the configuration you would like
+#to use.For example, if you want to do a full debug build(little to no optimization, with
+#debugging symbols),                                                                          \
+	add - DCMAKE_BUILD_TYPE = Debug to your `cmake` command.You may want to do
+#a full debug build if code you want to debug gets optimized out by the compiler.
 set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "The type of build to perform.")
 set(AVAILABLE_BUILD_TYPES "Debug" "Release" "RelWithDebInfo" "MinSizeRel")
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${AVAILABLE_BUILD_TYPES})
@@ -23,17 +24,17 @@ Building ${CMAKE_BUILD_TYPE} configuration...\n\
 Add -DCMAKE_BUILD_TYPE=... to change\n\
 ========================================")
 
-# Generate a compile_commands.json file by default unless explicitly disabled.
-# This allows editors like Visual Studio Code to be able to index the project correctly and
-# locate header files and libraries.
+#Generate a compile_commands.json file by default unless explicitly disabled.
+#This allows editors like Visual Studio Code to be able to index the project correctly and
+#locate header files and libraries.
 if(NOT CMAKE_EXPORT_COMPILE_COMMANDS)
   set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE STRING "Enable/Disable output of compile commands
   during generation." FORCE)
 endif()
 
 ##====== Module settings ======
-# These variables control whether various modules are enabled or disabled. The goal is to allow
-# a user to selectively exclude modules that they do not need.
+#These variables control whether various modules are enabled or disabled.The goal is to allow
+#a user to selectively exclude modules that they do not need.
 set(GPS "ARDUPILOT" CACHE STRING "GPS interface to use.")
 set(AVAILABLE_GPS "USB" "ARDUPILOT" "NONE")
 set_property(CACHE GPS PROPERTY STRINGS ${AVAILABLE_GPS})
@@ -60,49 +61,48 @@ message("  World Interface:\t${WORLD_INTERFACE}")
 message("========================================")
 
 ##====== Dependencies ======
-# Some of these are optional depending on module settings above.
+#Some of these are optional depending on module settings above.
 
-# Get the Eigen linear algebra library. Eigen's CMake config includes its headers as user
-# headers instead of system headers by default, so explicitly force them to be system includes
-# here to avoid the compiler spamming warnings at us for stuff in the Eigen headers.
+#Get the Eigen linear algebra library.Eigen's CMake config includes its headers as user
+#headers instead of system headers by default, so explicitly force them to be system includes
+#here to avoid the compiler spamming warnings at us for stuff in the Eigen headers.
 find_package(Eigen3 REQUIRED NO_MODULE)
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
 
-# Find the WebSocket++ library and Boost (provides the ASIO backend for Websocket++ and also
-# provides the program_options argument parser). Only the `system` component of Boost is
-# currently required.
+#Find the WebSocket++ library and Boost(provides the ASIO backend for Websocket++ and also
+#provides the program_options argument parser).Only the `system` component of Boost is
+#currently required.
 find_package(websocketpp REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system)
 
-# Find Frozen, library used for constexpr immutable containers
+#Find Frozen, library used for constexpr immutable containers
 find_package(frozen REQUIRED)
-# Frozen is just an interface library, only containing headers and some CMake settings. It
-# should be fine to "link" the library to every target, since if the headers are not included,
-# it will not have any effect on size or performance. This will help us not have to worry about
-# making sure the headers are available in every file that includes Constants.h, for example.
+#Frozen is just an interface library, only containing headers and some CMake settings.It
+#should be fine to "link" the library to every target, since if the headers are not included,
+#it will not have any effect on size or performance.This will help us not have to worry about
+#making sure the headers are available in every file that includes Constants.h, for example.
 link_libraries(frozen::frozen)
 
-# Find argparse, library used for parsing command line arguments
+#Find argparse, library used for parsing command line arguments
 find_package(argparse REQUIRED)
 
-
-# Find the JSON library
+#Find the JSON library
 find_package(nlohmann_json 3.2.0 REQUIRED)
 
-# Find the CAN library; contains packet and protocol definitions and does not
-# actually require physical CAN to be present.
+#Find the CAN library; contains packet and protocol definitions and does not
+#actually require physical CAN to be present.
 FetchContent_Declare(
     HindsightCAN
     GIT_REPOSITORY https://github.com/huskyroboticsteam/HindsightCAN.git
-    GIT_TAG 45b1544f20e7ba6dd0db19fb97e947430031fc6a
+    GIT_TAG 675aa2c32a5b6cdb24f3f2b8aae5b7e43d717bf6
 )
 FetchContent_MakeAvailable(HindsightCAN)
 
 FetchContent_Declare(LoguruGitRepo
 	GIT_REPOSITORY "https://github.com/emilk/loguru"
 	GIT_TAG        "master"
 )
-# set any loguru compile-time flags before calling MakeAvailable()
+#set any loguru compile - time flags before calling MakeAvailable()
 set(LOGURU_WITH_STREAMS TRUE)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 FetchContent_MakeAvailable(LoguruGitRepo) # defines target 'loguru::loguru'
@@ -115,13 +115,13 @@ if(WITH_TESTS)
   find_package(Catch2 REQUIRED)
 endif()
 
-# Libraries needed to interface with real-life sensors. If we aren't using the real world
-# interface, these aren't needed.
+#Libraries needed to interface with real - life sensors.If we aren't using the real world
+#interface, these aren't needed.
 if(WORLD_INTERFACE STREQUAL "REAL")
   if(GPS STREQUAL "USB")
-    # Find pkg-config (needed for libgps, as it doesn't have CMake configuration)
+#Find pkg - config(needed for libgps, as it doesn't have CMake configuration)
     find_package(PkgConfig REQUIRED)
-    # Find the libgps USB GPS library.
+#Find the libgps USB GPS library.
     pkg_check_modules(libgps REQUIRED libgps)
   endif()
 endif()
@@ -137,7 +137,7 @@ add_library(camera SHARED
 )
 target_link_libraries(camera PUBLIC ${OpenCV_LIBS})
 
-# shared library for utility code
+#shared library for utility code
 add_library(utils SHARED
   utils/core.cpp
   utils/random.cpp
@@ -151,27 +151,26 @@ add_library(utils SHARED
   base64/base64_img.cpp
   kinematics/DiffDriveKinematics.cpp
   kinematics/DiffWristKinematics.cpp
-  kinematics/SwerveDriveKinematics.cpp
   world_interface/data.cpp)
 target_link_libraries(utils ${OpenCV_LIBS})
 
 ## ====== CAN Interfaces =======
-# Stub CAN interface is used for the tests (and for the Rover if
-# CAN is disabled) and the real CAN interface is used for the Rover if CAN is
-# enabled.
+#Stub CAN interface is used for the tests(and for the Rover if
+#CAN is disabled) and the real CAN interface is used for the Rover if CAN is
+#enabled.
 
-# Common CAN source files
+#Common CAN source files
 
-# **DON'T MAKE THIS SHARED**
-# Making this library shared causes some memory fuckery
-# No clue why but CAN I/O goes to shit. Don't do it.
+#** DON'T MAKE THIS SHARED**
+#Making this library shared causes some memory fuckery
+#No clue why but CAN I / O goes to shit.Don't do it.
 add_library(can_interface STATIC)
 target_sources(can_interface PRIVATE
   CAN/CANMotor.cpp
   CAN/CANUtils.cpp
 )
 
-# Hardware specific source files
+#Hardware specific source files
 target_sources(can_interface PRIVATE
   CAN/CAN.cpp)
 target_link_libraries(can_interface PUBLIC
@@ -196,7 +195,7 @@ else()
 endif()
 
 ## ====== World Interfaces =======
-# hardware-agnostic utilities and common code for world interface
+#hardware - agnostic utilities and common code for world interface
 add_library(world_interface_core STATIC
   world_interface/gps_common_interface.cpp
   ar/Detector.cpp
@@ -209,7 +208,7 @@ add_library(world_interface_core STATIC
 target_include_directories(world_interface_core SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
 target_link_libraries(world_interface_core PUBLIC ${vision_libs} opencv_aruco ${OpenCV_LIBS} utils camera)
 
-# CAN library (above) requires some utilities from this
+#CAN library(above) requires some utilities from this
 target_link_libraries(can_interface PUBLIC utils)
 
 add_library(stub_world_interface STATIC
@@ -254,7 +253,6 @@ target_link_libraries(video
 
 add_library(control SHARED
   control/TrapezoidalVelocityProfile.cpp
-  control/SwerveController.cpp
 )
 target_link_libraries(control utils)
 
@@ -269,9 +267,9 @@ add_library(constants SHARED Constants.cpp)
 link_libraries(constants)
 
 add_executable(Rover Rover.cpp)
-# **DON'T MAKE THIS SHARED**
-# Making this library shared causes some memory fuckery
-# No clue why but CAN I/O goes to shit. Don't do it.
+#** DON'T MAKE THIS SHARED**
+#Making this library shared causes some memory fuckery
+#No clue why but CAN I / O goes to shit.Don't do it.
 add_library(rover_common STATIC
   Globals.cpp
   control_interface.cpp
@@ -308,38 +306,37 @@ target_link_libraries(TunePID ${vision_libs})
 if(WITH_TESTS)
   add_executable(tests
     Tests.cpp
-    # AR Detection tests
+#AR Detection tests
     ar/DetectorTests.cpp
     ar/MarkerSetTests.cpp
-    # Camera tests
+#Camera tests
     ../tests/camera/CameraParamsTests.cpp
-    # GPS tests
+#GPS tests
     ../tests/gps/GPSDatumTest.cpp
     ../tests/gps/GPSConverterTest.cpp
-    # Controller tests
+#Controller tests
     ../tests/control/TrapezoidalVelocityProfileTest.cpp
     ../tests/control/JacobianControllerTest.cpp
     ../tests/control/PIDControllerTest.cpp
     ../tests/control/PlanarArmControllerTest.cpp
-    # Kinematics tests
+#Kinematics tests
     ../tests/kinematics/DiffDriveKinematicsTest.cpp
-    ../tests/kinematics/SwerveDriveKinematicsTest.cpp
     ../tests/kinematics/PlanarArmFKTest.cpp
     ../tests/kinematics/FabrikSolver2DTest.cpp
-    # Filter tests
+#Filter tests
     ../tests/filters/RollingAvgFilterTest.cpp
     ../tests/filters/EKFTest.cpp
     ../tests/filters/MultiSensorEKFTest.cpp
     ../tests/filters/StateSpaceUtilsTest.cpp
-    # Command tests
+#Command tests
     ../tests/commands/DriveToWaypointCommandTest.cpp
-    # Util tests
+#Util tests
     ../tests/util/CoreTest.cpp
     ../tests/util/DataTest.cpp
     ../tests/util/MathTest.cpp
     ../tests/util/TimeTest.cpp
     ../tests/util/SchedulerTest.cpp
-	# Protocol/teleop tests
+#Protocol / teleop tests
 	../tests/kinematics/DiffWristKinematicsTest.cpp)
 
   target_link_libraries(tests

src/network/MissionControlMessages.h

@@ -7,7 +7,6 @@ namespace net::mc {
 // request keys
 constexpr const char* EMERGENCY_STOP_REQ_TYPE = "emergencyStopRequest";
 constexpr const char* OPERATION_MODE_REQ_TYPE = "operationModeRequest";
-constexpr const char* DRIVE_MODE_REQ_TYPE = "swerveDriveModeRequest";
 constexpr const char* DRIVE_REQ_TYPE = "driveRequest";
 constexpr const char* DRIVE_TANK_REQ_TYPE = "tankDriveRequest";
 constexpr const char* ARM_IK_ENABLED_TYPE = "requestArmIKEnabled";

src/network/MissionControlProtocol.h

@@ -43,7 +43,6 @@ class MissionControlProtocol : public WebSocketProtocol { // TODO: add documenta
 
 	void handleEmergencyStopRequest(const json& j);
 	void handleOperationModeRequest(const json& j);
-	void handleDriveModeRequest(const json& j);
 	void handleTankDriveRequest(const json& j);
 	void handleCameraStreamOpenRequest(const json& j);
 	void handleCameraStreamCloseRequest(const json& j);

src/world_interface/real_world_constants.h

@@ -79,8 +79,8 @@ constexpr auto potMotors = frozen::make_unordered_map<motorid_t, potparams_t>({
 
 /** @brief A mapping of motorids to their corresponding serial number. */
 constexpr auto motorSerialIDMap = frozen::make_unordered_map<motorid_t, can::deviceserial_t>(
-	{{motorid_t::leftTread, DEVICE_SERIAL_MOTOR_CHASSIS_FL},
-	 {motorid_t::rightTread, DEVICE_SERIAL_MOTOR_CHASSIS_FR},
+	{{motorid_t::leftTread, DEVICE_SERIAL_TREAD_LEFT},
+	 {motorid_t::rightTread, DEVICE_SERIAL_TREAD_RIGHT},
 	 {motorid_t::armBase, DEVICE_SERIAL_MOTOR_BASE},
 	 {motorid_t::shoulder, DEVICE_SERIAL_MOTOR_SHOULDER},
 	 {motorid_t::elbow, DEVICE_SERIAL_MOTOR_ELBOW},