Thunderloop Class Reference

Public Member Functions
	Thunderloop (const RobotConstants_t &robot_constants, bool enable_log_merging, const int loop_hz)
void	runLoop ()

Public Attributes
std::unique_ptr< MotorService >	motor_service_
std::unique_ptr< NetworkService >	network_service_
std::unique_ptr< PowerService >	power_service_
std::unique_ptr< RedisClient >	redis_client_

Constructor & Destructor Documentation

Thunderloop()

Thunderloop	(	const RobotConstants_t &	robot_constants,
		bool	enable_log_merging,
		const int	loop_hz
	)

Thunderloop is a giant loop that runs at THUNDERLOOP_HZ. It receives Primitives and World from AI, executes the primitives with the most recent vison data, and polls the services to interact with the hardware peripherals.

High Level Diagram: Service order in loop not shown

              ┌─────────────────┐
              │                 │
              │   ThunderLoop   │
              │                 │

Primitives───────► │ Target Vel ┌────────────┐ │ ├────────────► │ World ───────────► │ │ MotorBoard │ │ Services ◄────────────┤ │ │ │ Actual Vel └────────────┘ │ Primitive Exec │ │ │ │ │ Kick/Chip ┌────────────┐ │ ├────────────► │ Robot Status◄─────┤ │ │ PowerBoard │ │ ◄────────────┤ │ └─────────────────┘ Voltages └────────────┘

Parameters

robot_constants	The robot constants
enable_log_merging	Whether to merge repeated log message or not
loop_hz	The rate to run the loop

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The documentation for this class was generated from the following files:

• src/software/embedded/thunderloop.h
• src/software/embedded/thunderloop.cpp