LOC - Implement Navigator #47
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…eter-preprocessor
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Localizer? |
| const DELTA_T: f64 = 0.01; | ||
| const STRIPE_WIDTH: f64 = 1.0; |
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would be good to add a comment with the units for these
| //TODOLater: Change state | ||
| return; | ||
| } else { | ||
| //TODOLater: Check unit of keyence data |
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what unit is this referring to?
| .check_keyence_agrees(keyence_data.clone()); | ||
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| if keyence_status == SensorChecks::Unacceptable { | ||
| //TODOLater: Change state |
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rather than handling the logic for changing state in here, the whole preprocessor function could return Result<(), PreprocessorError> or similar in this case so that the caller can deal with it instead
| let processed_accelerometer_data = | ||
| accelerometer_preprocessor.process_data(accelerometer_data); | ||
| if processed_accelerometer_data.is_none() { | ||
| // TODOLater: Change state |
| self.preprocessor( | ||
| optical_data.clone(), | ||
| keyence_data.clone(), | ||
| accelerometer_data.clone(), | ||
| ); |
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if you change the return type then iteration will also return a Result type, so just pass the error up
| self.keyence_val = keyence_data[0] as f64; | ||
| } | ||
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| let mut accelerometer_preprocessor = AccelerometerPreprocessor::new(); |
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Might be better to just have one instance of AccelerometerPreprocessor like with Keyence so it's not being constantly created
| // Assuming frequency of 6400hz for IMU at 120 mu g / sqrt(Hz) | ||
| // standard deviation = 120 * sqrt(6400) = 9600 mu g = 0.0096 g | ||
| // = 0.0096 * 9.81 = 0.094176 m/s^2 | ||
| // variance = 0.094176^2 = 0.0089 m/s^2 |
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really good comments here
| } | ||
| } | ||
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| impl Localizer { |
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Some Rust doc /// comments for Localizer and the preprocessor and iteration functions would be great
| pub fn process_optical_data(raw_optical_data: Vec<f64, 2>) -> f32 { | ||
| let mut magnitude: f32 = 0.0; |
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Is it possible to keep this generic to any number of optical flow sensors? Could take the number as a constant NUM_OPTICAL_FLOW_SENSORS like with accelerometers, and just have a Vec of length 1 if there's only one?
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| let raw_keyence_data: Vec<u32, 2> = Vec::from_slice(&[0, 0]).unwrap(); | ||
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| let raw_accelerometer_data: RawAccelerometerData<K_NUM_ACCELEROMETERS, K_NUM_AXIS> = |
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Didn't spot this earlier, but we don't need K_ prefix for K_NUM_ACCELEROMETERS or K_NUM_AXIS
Transfer navigator.cpp from the 2024 codebase.