Raptor Class Base Code?

I think we will put the telemetry calls into the RaceCodeFunctions.py script, but at the moment we are directly talking to the Raptor library to read them.

The Rator robots are fairly easy to crash, flipping is a bit harder but can be done against the walls at speed. As you say once flipped there is nothing you can do to get the robot going again. If you do just collide with the wall it should be possible to reverse a short distance and drive away again.

Having said that you can see much more of the track, so robot detection should be easier:

These are the functions that are in the library at the moment:

ResetEncoder()

Set the encoder position back to zero

position = GetEncoderPosition()

Gets the current encoder position in counts
This can be converted to an easier to understand value with constants for a
distance or number of rotations, e.g.
metersTravelled = GetEncoderPosition() / float(countsPerMeter)
rotations = GetEncoderPosition() / float(countsPerRotation)
degrees = (GetEncoderPosition() * 360.0) / float(countsPerRotation)

We have not calculated those conversions yet.

velocity = GetEncoderVelocity()

Gets the current encoder velocity in counts per second
The velocity is sampled five times per second, so a minimum rate of five counts per second is needed to register
The maximum rate is just above 160 KHz, beyond this the velocity will register as overflowed

This can be converted to an easier to understand value with constants for a
speed or number of rotations per second, e.g.
metersTravelledPerSecond = GetEncoderVelocity() / float(countsPerMeter)
rotationsPerSecond = GetEncoderVelocity() / float(countsPerRotation)
degreesPerSecond = (GetEncoderVelocity() * 360.0) / float(countsPerRotation)

The latest running code is at about 500 Hz. Again we have not calculated those conversions yet.

x, y, z = GetPozyxLocation()

Gets the current location reported by the Pozyx board in mm.
This is relative to the board's assigned locations for the anchors.

In our race code case z is unused / fixed, x, y of 0, 0 will be to the far left of the track diagram. This means they should be positive values at any position on the track.

The starting position for the center lane is approximately 5870, 1265.

heading, roll, pitch = GetPozyxOrientation()

Gets the current orientation in heading (yaw), pitch, and roll reported by the Pozyx board in degrees.

From our testing so far the heading value does seem to drift, but roll and pitch are fairly stable.

x, y, z = GetPozyxLinearAcceleration()

Gets the current acceleration in the X, Y, and Z directions reported by the Pozyx board in mg.
This is based on all of the available sensors in the board and removes the gravity component.