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types

Odometry Calibration Types

Enums and constants for the calibration tool.

CalibrationPhaseType #

Bases: IntEnum

Calibration phase types.

Source code in cogip/tools/firmware_odometry_calibration/types.py 
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class CalibrationPhaseType(IntEnum):
    """Calibration phase types."""

    WHEEL_DISTANCE = auto()
    RIGHT_WHEEL_RADIUS = auto()
    LEFT_WHEEL_RADIUS = auto()

    @property
    def title(self) -> str:
        """Phase title for display."""
        titles = {
            CalibrationPhaseType.WHEEL_DISTANCE: "WHEEL DISTANCE CALIBRATION",
            CalibrationPhaseType.RIGHT_WHEEL_RADIUS: "RIGHT WHEEL RADIUS CALIBRATION",
            CalibrationPhaseType.LEFT_WHEEL_RADIUS: "LEFT WHEEL RADIUS CALIBRATION",
        }
        return titles[self]

    @property
    def description(self) -> str:
        """Phase description for display."""
        descriptions = {
            CalibrationPhaseType.WHEEL_DISTANCE: "The robot will rotate in place to calibrate the wheel distance",
            CalibrationPhaseType.RIGHT_WHEEL_RADIUS: (
                "The robot will perform square trajectories to calibrate the right wheel radius"
            ),
            CalibrationPhaseType.LEFT_WHEEL_RADIUS: (
                "The robot will travel a straight line to calibrate the left wheel radius"
            ),
        }
        return descriptions[self]

    @property
    def input_prompt(self) -> str:
        """Input prompt for this phase."""
        prompts = {
            CalibrationPhaseType.WHEEL_DISTANCE: "How many full rotations?",
            CalibrationPhaseType.RIGHT_WHEEL_RADIUS: "How many squares?",
            CalibrationPhaseType.LEFT_WHEEL_RADIUS: "What distance in mm?",
        }
        return prompts[self]

    @property
    def default_value(self) -> int:
        """Default value for this phase input."""
        defaults = {
            CalibrationPhaseType.WHEEL_DISTANCE: 10,
            CalibrationPhaseType.RIGHT_WHEEL_RADIUS: 5,
            CalibrationPhaseType.LEFT_WHEEL_RADIUS: 2000,
        }
        return defaults[self]

    @property
    def error_message(self) -> str | None:
        """Error message specific to this phase computation."""
        errors = {
            CalibrationPhaseType.WHEEL_DISTANCE: None,
            CalibrationPhaseType.RIGHT_WHEEL_RADIUS: (
                "Right encoder linear component too small. Check encoder connection."
            ),
            CalibrationPhaseType.LEFT_WHEEL_RADIUS: "Denominator too small. Check encoder counts.",
        }
        return errors[self]

default_value property #

Default value for this phase input.

description property #

Phase description for display.

error_message property #

Error message specific to this phase computation.

input_prompt property #

Input prompt for this phase.

title property #

Phase title for display.