illini-robomaster / irm_embedded_2023

This is the iRM embedded code repo for 2023 RoboMaster competition.

illini-robomaster

Billboard & tutorials: iRM@notion

irm_embedded_2023's Issues

Add Github workflow build test

All pull requests need to pass a build test before merging into main. This makes sure that we are not letting in any breaking changes.

Implementers can take a look at it was done on illini-robomaster/iRM_Embedded_2022

I think it is necessary that we have a formater. But if it should still be clang-10 might need more discussion.

Clean the vehicle code

The vehicle codes has some redundent stuff.(variable initilization, code format, useless(abandoned) parts...)

Add support to multiple motors for M4310 TransmitOutput()

See shared/motor.cc and shared/motor.h.
Please refer to the usage of CANBaseMotor::TransmitOutput().
Can change it to a static function.
Want:

m4310s[] = {motor1, motor2}
TransmitOutput(m4310s, motor_num)

Block program if the motor doesn't have power

Issue

The motor might burn the board at the moment they have power if giving them commands to turn before they are powered on. We need something to check if the motor is powered on before we send our first turning command.

Potential implementation:

Adding a dummy MotorCANBase::TransmitOutput during motor instance initialization shared/library/motor.cc might be a good idea. If the board doesn't have power (24V), the program will block. Yet I don't know what would happen if the motor doesn't have power. The implementer should check this.

Side notes:

This change in the library should not change any current code (example or vehicle).