Add servo controls and spinlock, fix swerve, optimize code

.vscode/settings.json

@@ -4,6 +4,7 @@
         "cmath": "cpp",
         "*.tcc": "cpp",
         "string": "cpp",
-        "ranges": "cpp"
+        "ranges": "cpp",
+        "numeric": "cpp"
     }
 }

src/globals.h

@@ -16,7 +16,7 @@ extern long last_p;
 
 // Loop timing
 #define LOOP_DELAY_MS_CORE_0    50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
-#define LOOP_DELAY_MS_CORE_1 50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
+#define LOOP_DELAY_MS_CORE_1    20 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
 #define LOOP_DELAY_SECONDS ((float)LOOP_DELAY_MS_CORE_0 / 1000.0f) // Previous number expressed in seconds
 
 // Math things
@@ -57,8 +57,11 @@ extern long last_p;
 // This value must always be at least 2, otherwise the code will break due to there being an array with a zero or negative length or a division by zero
 #define ENCODER_BUFFER_ENTRY_COUNT 5
 
+
+// Number of encoder ticks per full rotation of each swerve drive steering motor
+#define STEERING_ENCODER_TICKS_PER_ROTATION     (1024.0 * 8.0)
 // Number of encoder ticks per degree of rotation for the swerve drive steering motors
-#define STEERING_ENCODER_TICKS_PER_DEGREE (1024.0 * 4.0) / 360.0 // TODO check as of 20230927
+#define STEERING_ENCODER_TICKS_PER_DEGREE       (STEERING_ENCODER_TICKS_PER_ROTATION / 360.0)
 
 // Maximum speed allowed for the steering motors (out of 127.0)
 #define STEERING_MOTOR_SPEED_LIMIT 127.0 // TODO as of 20230927, lower this if they're spinning too fast for the robot to handle
@@ -78,6 +81,7 @@ extern long last_p;
 // #define CLAW_COMMAND_STOP   1   // Stop immediately, no matter the location
 #define CLAW_COMMAND_CLOSE  2   // Close the claw
 #define CLAW_COMMAND_OPEN   3   // Open the claw
+#define CLAW_COMMAND_STAY   4   // Maintain the current position
 
 // Claw things
 #define CLAW_OPEN_ANGLE 90.0f       // Open position of the claw
@@ -85,18 +89,32 @@ extern long last_p;
 #define CLAW_DEFAULT_ANGLE 0.0f     // Default starting claw position
 
 // Tilt servo control parameters
+#define TILT_DEGREES_PER_SECOND         50.0f // Speed in degrees per second that the tilt motor will move up or down (except when resetting to a flat position)
 #define TILT_ANGLE_MIN_UPDATE_INTERVAL  0.2f // Update the tilt servo's target angle only after this many seconds have elapsed since the previous angle update
 #define TILT_ANGLE_MIN_UPDATE_LOOPS     (TILT_ANGLE_MIN_UPDATE_INTERVAL / LOOP_DELAY_SECONDS) // Previous value expressed as a number of control loops to wait between updates
-#define TILT_ANGLE_UPDATE_DISTANCE 10.0f // Distance in degrees to shift the servo angle by each update
+#define TILT_ANGLE_UPDATE_DISTANCE      (TILT_DEGREES_PER_SECOND * TILT_ANGLE_MIN_UPDATE_INTERVAL) // Distance in degrees to shift the servo angle by each update
 #define TILT_MAX_ANGLE                  90.0f // Maximum angle allowed for the tilt servo
 #define TILT_MIN_ANGLE                  -90.0f // Minimum angle allowed for the tilt servo
 #define TILT_FLAT_ANGLE                 0.0f // Default/flat/starting angle for the tilt servo
 
 // Tilt servo commands
-#define TILT_COMMAND_UNSET 0
-#define TILT_COMMAND_UP 1
-#define TILT_COMMAND_DOWN 2
+#define TILT_COMMAND_UNSET  0   // Command not yet set, go to default (flat) position
+#define TILT_COMMAND_RESET  1   // Reset the tilt servo to the flat position
+#define TILT_COMMAND_UP     2   // Raise the tilt servo
+#define TILT_COMMAND_DOWN   3   // Lower the silt servo
 
+// Control parameters, specify which buttons control new_angle actions
+#define ARM_UP_BUTTON       DPAD_UP
+#define ARM_DOWN_BUTTON     DPAD_DOWN
+#define CLAW_OPEN_BUTTON    DPAD_LEFT
+#define CLAW_CLOSE_BUTTON   DPAD_RIGHT
+#define TILT_UP_BUTTON      DIAMOND_UP
+#define TILT_DOWN_BUTTON    DIAMOND_DOWN
+#define TILT_RESET_BUTTON   DIAMOND_LEFT
+
+
+
+// Button definitions
 #define SerComm Serial1   //Serial port connected to Xbee
 #define DIAMOND_LEFT 0
 #define DIAMOND_DOWN 1

src/main.cpp

@@ -15,6 +15,7 @@
 #include <107-Arduino-Servo-RP2040.h>
 #include "swerve.h"
 #include "manipulator.h"
+#include "spinlock.h"
 
 const char* ssid = "TEST";
 const char* password = "pink4bubble";
@@ -43,9 +44,9 @@ PCF8574 ioex2(0x21, 20, 21);
 
 // JANK: soldered to pico or headers
 PioEncoder enc1(18); // Front Left
-PioEncoder enc2(14); // Front Right
-PioEncoder enc3(27); // Back Left
-PioEncoder enc4(0);  // Back Right
+PioEncoder enc2(0); // Front Right // TODO WIRING AND CONFIRMATION 20230929
+PioEncoder enc3(27); // Back Left // TODO WIRING AND CONFIRMATION 20230929
+PioEncoder enc4(14);  // Back Right
 
 
 
@@ -68,10 +69,25 @@ int stepperX_pos = 0;
 int stepperY_pos = 0;
 int stepperZ_pos = 0;
 
+// Loop management
 uint64_t previous_loop_start_time_core_0 = 0, previous_loop_start_time_core_1 = 0; // Track the previous loop start time, used to calculate how long to sleep for until the start of the next loop
 uint64_t previous_loop_processing_duration_core_0 = 0, previous_loop_processing_duration_core_1 = 0; // Processing time for the previous loop on each core
 uint64_t loop_counter_core_0 = 0, loop_counter_core_1 = 0; // Counter for loop() and loop1() respectively, incremented at the end of each loop
 
+// Motor power communication between cores
+byte drive_power_command_spinlock_flag = SPINLOCK_UNSET; // Spinlock tracking flag
+// Variables used to transfer steering motor power between cores, covered by spinlock
+int power_data_transfer_fl = 0;
+int power_data_transfer_fr = 0;
+int power_data_transfer_bl = 0;
+int power_data_transfer_br = 0;
+// Variables used to track previous requested motor power, only used by core 1, sabertooth not called if motor power unchanged since previous loop
+int power_data_transfer_prev_fl = 0;
+int power_data_transfer_prev_fr = 0;
+int power_data_transfer_prev_bl = 0;
+int power_data_transfer_prev_br = 0;
+
+
 #define defMaxSpeed     8000
 #define defAcceleration 8000
 
@@ -112,14 +128,14 @@ int right_cooldown = 0;
 int olddisplay = 99999; // guarantee a change when first value comes in
 
 // motor indeces for set_motor() function
-#define FLSTEER 1
-#define FRSTEER 2
-#define BLSTEER 3
-#define BRSTEER 4
+#define FRSTEER 1
+#define FLSTEER 2
+#define BRSTEER 3
+#define BLSTEER 4
 #define FLDRIVE 5
-#define FRDRIVE 6
+#define BRDRIVE 6
 #define BLDRIVE 7
-#define BRDRIVE 8
+#define FRDRIVE 8
 #define EXTEND1 9
 #define EXTEND2 10
 #define LIFT1 11
@@ -384,8 +400,8 @@ void set_dec(byte num) {
 }
 
 void set_motor(byte motor, int speed) {
-  // 1 - 4   : swivel motors on Sabertooth 1-2
-  // 5 - 8   : drive motors on Talon SRX
+  // 1 - 4   : swivel motors on Sabertooth 1-2 (Clockwise: FR, FL, BR, BL)
+  // 5 - 8   : drive motors on Talon SRX (Forward: FL, BR, BL, FL)
   // 9 - 10  : actuators on Sabertooth 3
   // 11 - 13 : Steppers on slave board
   // 14      : drive 11-13 with identical position & speed
@@ -397,6 +413,7 @@ void set_motor(byte motor, int speed) {
   Serial.println(speed);
   if (motor <= 4) {
     // swerve controls
+    speed *= (((motor % 2) * 2) - 1); // Flip motors 2 and 4
     swivel[(motor - 1) / 2].motor((motor - 1) % 2 + 1, speed);
   }
   else if (motor == 5)
@@ -675,7 +692,7 @@ void setup() {
   Serial.print("Initializing encoders..");
   set_hex(0x5);
   enc1.begin();
-  enc1.flip();
+  //enc1.flip();
   enc2.begin();
   enc3.begin();
   enc4.begin();
@@ -859,7 +876,8 @@ void print_status() {
 }
 
 void telemetry(float zeroed_lx_float, float zeroed_ly_float, float zeroed_rx_float, float zeroed_ry_float, int drive_mode, \
-               float left_joystick_angle, float left_joystick_magnitude, float right_joystick_angle, float right_joystick_magnitude) { // Print encoder positions for steering motors
+               float left_joystick_angle, float left_joystick_magnitude, float right_joystick_angle, float right_joystick_magnitude, \
+               uint64_t processing_time) { // Print encoder positions for steering motors
   
   char buffer[300] = "\0";
 
@@ -868,10 +886,11 @@ void telemetry(float zeroed_lx_float, float zeroed_ly_float, float zeroed_rx_flo
   //SerComm.println(buffer);
 
   // Encoder data and loop number
-  sprintf(buffer, "Loop = %llu  E1 = %i  E2 = %i  E3 = %i  E4 = %i  z_lx = %f  z_ly = %f  z_rx = %f  z_ry = %f  mode = %i  mag-L = %f  ang-L = %f mag-R = %f  ang-R = %f", \
+  sprintf(buffer, "Loop = %llu  E1 = %i  E2 = %i  E3 = %i  E4 = %i  z_lx = %f  z_ly = %f  z_rx = %f  z_ry = %f  mode = %i  mag-L = %f  ang-L = %f mag-R = %f  ang-R = %f  proctime = %llu", \
   loop_counter_core_0, enc1.getCount(), enc2.getCount(), enc3.getCount(), enc4.getCount(), \
   zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, drive_mode, \
-  left_joystick_magnitude, left_joystick_angle, right_joystick_magnitude, right_joystick_angle);
+  left_joystick_magnitude, left_joystick_angle, right_joystick_magnitude, right_joystick_angle, \
+  processing_time);
   Serial.println(buffer);
   SerComm.println(buffer);
 }
@@ -952,36 +971,46 @@ void loop() {
   swrv = updateEncoderData(swrv, enc1.getCount(), enc2.getCount(), enc3.getCount(), enc4.getCount()); // Update encoder data in the swerve_drive struct
   swrv = updateSwerveCommand(swrv); // Calculate power for each drive and steering motor
   
-  // Arm motor control (stepper motors)
-  float arm_speed = 0.0f; // TODO as of 20230928: PLACEHOLDER for input for arm speed 
+  // Arm motor control (stepper motors), DPAD_UP to move arm up, DPAD_DOWN to move arm down, both or neither being pressed stops the arm
+  float arm_speed = (float) (((int) getButton(DPAD_UP)) - ((int) getButton(DPAD_DOWN))); // TODO 20230929 confirm speed and polarity
   clawarm = setArmSpeed(clawarm, arm_speed);
 
   // Claw servo control
   int new_claw_command = CLAW_COMMAND_UNSET;
-  /*
-    // TODO select action for claw
-  */
+  int claw_direction = getButton(CLAW_OPEN_BUTTON) - getButton(CLAW_CLOSE_BUTTON);
+  switch(claw_direction) {
+    case 0:
+      new_claw_command = CLAW_COMMAND_STAY;
+      break;
+    case 1:
+      new_claw_command = CLAW_COMMAND_OPEN;
+      break;
+    case -1:
+      new_claw_command = CLAW_COMMAND_CLOSE;
+      break;
+  }
   clawarm = updateClawCommand(clawarm, new_claw_command);
 
   // Tilt servo control
   int new_tilt_command = TILT_COMMAND_UNSET;
-  /*
-    // TODO select action for the tilt servo
-  */
   clawarm = updateTiltCommand(clawarm, new_tilt_command);
 
-  telemetry(zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, loop_drive_mode, left_joystick_angle, left_joystick_magnitude, right_joystick_angle, right_joystick_magnitude); // DEBUG ONLY, print steering motor encoder positions
+  telemetry(zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, loop_drive_mode, left_joystick_angle, left_joystick_magnitude, right_joystick_angle, right_joystick_magnitude, previous_loop_processing_duration_core_0); // DEBUG ONLY, telemetry
 
   // update motors after calculation
-  set_motor(FLSTEER, swrv.front_left_spin_power);
-  set_motor(BRSTEER, swrv.back_right_spin_power);
-  set_motor(FRSTEER, swrv.front_right_spin_power);
-  set_motor(BLSTEER, swrv.back_left_spin_power);
   set_motor(FLDRIVE, swrv.front_left_power);
   set_motor(BRDRIVE, swrv.back_right_power);
   set_motor(FRDRIVE, swrv.front_right_power);
   set_motor(BLDRIVE, swrv.back_left_power);
 
+  // Lock the spinlock and transfer the steering motor data to core 1, which will send the data to the sabertooth motor controllers
+  spinlock_lock_core_0(&drive_power_command_spinlock_flag);
+  power_data_transfer_fl = swrv.front_left_power;
+  power_data_transfer_fr = swrv.front_right_spin_power;
+  power_data_transfer_bl = swrv.back_left_spin_power;
+  power_data_transfer_br = swrv.back_right_spin_power;
+  spinlock_release(&drive_power_command_spinlock_flag);
+
   // update stepper motors
   set_motor(LIFTALL, clawarm.arm_set_motor_int);
 
@@ -994,155 +1023,6 @@ void loop() {
   */
 
 
-  /////////////////////////////////////////////////////////////
-  // END OF MODULUS PLUS CODE UNTIL THE END OF THIS FUNCTION //
-  /////////////////////////////////////////////////////////////
-
-  // Goliath / 2 side arcade tank drive code below
-  /*int zeroed_power =    -1 * ((int)(astate->stickX) - 127);
-  int zeroed_turn =      ((int)(astate->stickY) - 127);
-  
-  
-  if (true) { //fb != NULL) {
-    //int x = fb->x - 127;
-    //int y = - fb->y + 127;
-    int x = zeroed_turn;
-    int y = zeroed_power;
-    //Serial.print(x);
-    //Serial.print(" ");
-    //Serial.println(y);
-    
-    double rawdriveangle = atan2(x, y);
-    double driveangle = rawdriveangle * 180 / 3.1415926;
-    target_left_power = y;
-    target_right_power = y;
-    
-    target_left_power += x;
-    target_right_power += -x;
-    target_left_power = constrain(target_left_power, -127, 127);
-    target_right_power = constrain(target_right_power, -127, 127);
-    if(turbo) {
-      target_left_power *= 2;
-      target_right_power *= 2;
-    }
-    target_left_power = target_left_power * 0.675;
-    target_right_power = target_right_power * 0.675;
-
-
-  
-
-  }
-  
-  if(turbo)
-    acceleration = 8;
-  else
-    acceleration = 3;
-
-  if(left_cooldown > 0)
-    left_cooldown --;
-
-  if(abs(target_left_power) <= 4 && abs(left_power) > 5) {
-    left_power = 0;
-    left_cooldown = 2;
-  }
-  else if(target_left_power >= left_power + acceleration && left_cooldown == 0)
-    left_power += acceleration;
-  else if(acceleration > target_left_power - left_power && left_cooldown == 0)
-    left_power = target_left_power;
-  else if(target_left_power <= left_power - acceleration && left_cooldown == 0)
-    left_power -= acceleration;
-  else if(acceleration > left_power - target_left_power && left_cooldown == 0)
-    left_power = target_left_power;
-
-  if(right_cooldown > 0)
-    right_cooldown --;
-
-  if(abs(target_right_power) <= 4 && abs(right_power) > 5) {
-    right_power = 0;
-    right_cooldown = 2;
-  }
-  else if(target_right_power >= right_power + acceleration && right_cooldown == 0)
-    right_power += acceleration;
-  else if(acceleration > target_right_power - right_power && right_cooldown == 0)
-    right_power = target_right_power;
-  else if(target_right_power <= right_power - acceleration && right_cooldown == 0)
-    right_power -= acceleration;
-  else if(acceleration > right_power - target_right_power && right_cooldown == 0)
-    right_power = target_right_power;
-
-  int avg_speed = (abs(right_power) + abs(left_power))/2;
-  //SerComm.println();
-  set_hex(avg_speed);
-
-  //drive_right(right_enabled, right_power);
-  //drive_left(left_enabled, -left_power);
-  SerComm.println(" L: " + String(left_power) + " LT: " + String(target_left_power) + " R: " + String(right_power) + " RT: " + String(target_right_power) + " MEM FREE: "+ String(rp2040.getFreeHeap()));
-  */
-  //if(left_power != target_left_power || right_power != target_right_power)
-
-  
-  
-  //delay(1000);
-  //set_digit(0, 6);
-  //set_digit(0, 10);
-  //set_digit(1, 9);
-  //set_digit(1, 10);
-  //set_digit(2, 8);
-  //set_digit(2, 10);
-  //set_digit(3, 8);
-  //set_digit(3, 10);
-  //set_digit(4, 8);
-  //set_digit(4, 10);
-  /*if (mode == 0) {
-    set_raw(count / 8, count % 8);
-    if (count < 39) {
-      count ++;
-    } else {
-      count = 0;
-      mode = 1;
-      delay(100);
-    }
-  }*/
-  //print_status();
-  //drive_right(right_enabled, 10);
-  //drive_left(left_enabled, 10);
-  /*if (millis() % 3000 > 1500) {
-    set_mosfet(0, LOW);
-    set_mosfet(1, LOW);
-    //ioex2.digitalWrite(7, LOW);
-  }
-  if (millis() % 3000 < 1500) {
-    set_mosfet(0, HIGH);
-    set_mosfet(1, HIGH);
-    //ioex2.digitalWrite(7, HIGH);
-
-  }*/
-  /*if (mode == 1) {
-    set_dec(count);
-    drive_right(right_enabled, count);
-    //set_hex(count);
-    if (count < 40) {
-      count += 5;
-    } else {
-      //count = 0;
-
-      mode = 2;
-    }
-  }
-  if (mode == 2) {
-    set_dec(count);
-    drive_right(right_enabled, count);
-    //set_hex(count);
-    if (count > 5) {
-      count -= 5;
-    } else {
-      //count = 0;
-      
-      mode = 1;
-    }
-  }*/
-  //delay(200);
-
   previous_loop_processing_duration_core_0 = millis() - previous_loop_start_time_core_0;
   int64_t delay_time_ms = LOOP_DELAY_MS_CORE_0 - (int64_t) previous_loop_processing_duration_core_0; // Dynamically calculate delay time
   if(delay_time_ms > 0 && delay_time_ms < 100) { // Only delay if the processing time has not exceeded LOOP_DELAY_MS_CORE_0
@@ -1153,88 +1033,41 @@ void loop() {
 
 }
 
+void drive_control_core_1() { // Control drive motors from core 1 from loop1() function
+  // Lock the steering motor power data to read it
+  spinlock_lock_core_1(&drive_power_command_spinlock_flag);
+  int local_fl = power_data_transfer_fl;
+  int local_fr = power_data_transfer_fr;
+  int local_bl = power_data_transfer_bl;
+  int local_br = power_data_transfer_br;
+  spinlock_release(&drive_power_command_spinlock_flag); // Release the spinlock
+
+  // Set motors if the requested power is different than the previously requested power
+  if(local_fl != power_data_transfer_prev_fl) {
+    set_motor(FLSTEER, local_fl);
+  }
+  if(local_fr != power_data_transfer_prev_fr) {
+    set_motor(FRSTEER, local_fr);
+  }
+  if(local_bl != power_data_transfer_prev_bl) {
+    set_motor(BLSTEER, local_bl);
+  }
+  if(local_br != power_data_transfer_prev_br) {
+    set_motor(BRSTEER, local_br);
+  }
+
+  // Set the previously requested power data to the current power data, will be read in the next loop
+  power_data_transfer_prev_fl = local_fl;
+  power_data_transfer_prev_fr = local_fr;
+  power_data_transfer_prev_bl = local_bl;
+  power_data_transfer_prev_br = local_br;
+}
+
 void loop1() {
   previous_loop_start_time_core_1 = millis();
   rp2040.wdt_reset();
-  //drive_left(left_enabled, 255);
-  //digitalWrite(LED_BUILTIN, HIGH);  
-  if(loop_counter_core_1 == 20) {
-    //print_status();
-    loop_counter_core_1 = 0;
-    delay(25);
-  }
-  else {
-    delay(25);
-    //loop_counter_core_1++;
-  }
-
-  //SerComm.println("update");
-  //left_enabled = try_enable_left(left_enabled, get_voltage(1));
-  //right_enabled = try_enable_right(right_enabled, get_voltage(0));
-  //digitalWrite(LED_BUILTIN, LOW);
-
-  /*if (stepperX.distanceToGo() == 0) { // Give stepper something to do...
-    if (stepperXdir) {
-      Serial.println("Driving stepper");
-      stepperX.moveTo(stepsToGo);
-    } else {
-      Serial.println("Driving stepper");
-      stepperX.moveTo(-stepsToGo);
-    }
-    stepperX.runState();  
-    stepperXdir = !stepperXdir;
-  }
-  if (stepperY.distanceToGo() == 0) { // Give stepper something to do...
-    if (stepperYdir)
-      stepperY.moveTo(stepsToGo);
-    else
-      stepperY.moveTo(-stepsToGo);    
-    stepperY.runState();  
-    stepperYdir = !stepperYdir;
-  }
-
-  if (stepperZ.distanceToGo() == 0) { // Give stepper something to do...
-    if (stepperZdir)
-      stepperZ.moveTo(stepsToGo);
-    else
-      stepperZ.moveTo(-stepsToGo);
-    stepperZ.runState(); 
-    stepperZdir = !stepperZdir;
-  }*/
-  if (mode == 1) {
-    //set_hex(count);
-    if (count < 125) {
-      count += 1;
-    } else {
-      //count = 0;
-
-      mode = 2;
-    }
-  }
-  if (mode == 2) {
-
-    //set_hex(count);
-    if (count > -125) {
-      count -= 1;
-    } else {
-      //count = 0;
-      
-      mode = 1;
-    }
-  }
-  /*for (int x = 5; x < 9; x++) {
-    set_motor(x, count);  
-  }
-  swivel[0].motor(0, 127);
-  swivel[0].motor(1, 127);
-  swivel[1].motor(0, 127);
-  swivel[1].motor(1, 127);
-  set_motor(14, count); // drive all steppers in sync
-  digitalWrite(0, HIGH);
-  digitalWrite(1, HIGH);
-  digitalWrite(2, HIGH);
-  digitalWrite(3, HIGH);*/
 
+  drive_control_core_1();
   
   previous_loop_processing_duration_core_1 = millis() - previous_loop_start_time_core_1;
   int64_t delay_time_ms = LOOP_DELAY_MS_CORE_1 - (int64_t) previous_loop_processing_duration_core_1; // Dynamically calculate delay time

src/manipulator.cpp

@@ -39,22 +39,28 @@ manipulator_arm setTiltAngle(manipulator_arm input, float new_tilt_angle) // Int
 manipulator_arm updateTiltCommand(manipulator_arm input, int new_tilt_command) // Update the command for the tilt motor
 {
     manipulator_arm out = input;
-    if(new_tilt_command != TILT_COMMAND_UNSET && out.tilt_angle_loops_since_update >= TILT_ANGLE_MIN_UPDATE_LOOPS) { // Ignore value of 0, make sure that its been long enough since the last update
-        float tilt_angle_offset_direction = 0.0f;
+    if(new_tilt_command != out.tilt_command || out.tilt_angle_loops_since_update >= TILT_ANGLE_MIN_UPDATE_LOOPS) { // Make sure that it's been long enough since the last update to not spam the servo command
+        float new_angle = out.tilt_target_angle; // Maintain the existing angle by default
         switch(new_tilt_command) {
+            case TILT_COMMAND_UNSET:
+                new_angle = out.tilt_target_angle; // Maintain the existing angle
+            case TILT_COMMAND_RESET:
+                new_angle = TILT_FLAT_ANGLE;
             case TILT_COMMAND_UP:
-                tilt_angle_offset_direction = 1.0f;
+                new_angle = out.tilt_target_angle + TILT_ANGLE_UPDATE_DISTANCE;
                 break;
             case TILT_COMMAND_DOWN:
-                tilt_angle_offset_direction = -1.0f;
+                new_angle = out.tilt_target_angle - TILT_ANGLE_UPDATE_DISTANCE;
                 break;
         }
-        float angle_offset = TILT_ANGLE_UPDATE_DISTANCE * tilt_angle_offset_direction; // Degrees that the target angle is being changed by
-        out = setTiltAngle(out, out.tilt_target_angle + angle_offset);
+        out = setTiltAngle(out, new_angle);
+        out.tilt_angle_loops_since_update = 0; // Reset the counter tracking loops since the last update, since an update was just performed
     } else { // Increment the number of loops since the previous update, since an update was not performed during this loop
         out.tilt_angle_loops_since_update++;
     }
 
+    out.tilt_command = new_tilt_command; // Save the new command to check whether it has changed in the next loop
+
     return out;
 }
 
@@ -81,6 +87,9 @@ manipulator_arm updateClawCommand(manipulator_arm input, int new_claw_command) /
         case CLAW_COMMAND_CLOSE:
             new_claw_angle = CLAW_CLOSED_ANGLE;
             break;
+        case CLAW_COMMAND_STAY:
+            new_claw_angle = out.claw_position;
+            break;
         default:
             new_claw_angle = CLAW_DEFAULT_ANGLE;
     }
@@ -92,7 +101,7 @@ manipulator_arm updateClawCommand(manipulator_arm input, int new_claw_command) /
 
 // Arm functions (stepper motors)
 
-manipulator_arm setArmSpeed(manipulator_arm input, float arm_speed) // Set the arm's speed
+manipulator_arm setArmSpeed(manipulator_arm input, float arm_speed) // Set the arm's speed, must be between -1.0 and 1.0
 {
     manipulator_arm out = input;
     arm_speed = out.arm_speed_coefficient * min(out.arm_speed_limit, max(-out.arm_speed_limit, arm_speed));

src/manipulator.h

@@ -51,7 +51,7 @@ manipulator_arm updateClawCommand(manipulator_arm input, int new_claw_command);
 
 // Arm functions (stepper motors)
 
-manipulator_arm setArmSpeed(manipulator_arm input, float arm_speed); // Set the arm's speed
+manipulator_arm setArmSpeed(manipulator_arm input, float arm_speed); // Set the arm's speed, must be between -1.0 and 1.0
 
 manipulator_arm setArmSpeedLimit(manipulator_arm input, float arm_speed_limit); // Set the arm's speed limit (applied before coefficient), limit must be between 0.0 and 1.0
 

src/spinlock.cpp

@@ -0,0 +1,34 @@
+#include <Arduino.h>
+#include "globals.h"
+#include "spinlock.h"
+
+void spinlock_lock_core_0(byte* spinlock_flag) // Lock a spinlock from core 0
+{
+    while(*spinlock_flag == SPINLOCK_LOCK_CORE_1) {} // Wait until the data is not locked by the other core
+    *spinlock_flag = SPINLOCK_LOCK_CORE_0; // Try setting the flag to lock the data
+    // Wait to see if the memory was overwritten by the other core
+    delay(1);
+    if(*spinlock_flag == SPINLOCK_LOCK_CORE_1 || *spinlock_flag == SPINLOCK_OPEN) { // The other core locked the data (and currently holds a lock or has released it), recurse to try again
+        spinlock_lock_core_0(spinlock_flag);
+        return;
+    }
+    return;
+}
+
+void spinlock_lock_core_1(byte* spinlock_flag) // Lock a spinlock from core 1
+{
+    while(*spinlock_flag == SPINLOCK_LOCK_CORE_1) {} // Wait until the data is not locked by the other core
+    *spinlock_flag = SPINLOCK_LOCK_CORE_0; // Try setting the flag to lock the data
+    // Wait to see if the memory was overwritten by the other core
+    delay(1);
+    if(*spinlock_flag == SPINLOCK_LOCK_CORE_1 || *spinlock_flag == SPINLOCK_OPEN) { // The other core locked the data (and currently holds a lock or has released it), recurse to try again
+        spinlock_lock_core_0(spinlock_flag);
+        return;
+    }
+    return;
+}
+
+void spinlock_release(byte* spinlock_flag) // Release a spinlock
+{
+    *spinlock_flag = SPINLOCK_OPEN;
+}

src/spinlock.h

@@ -0,0 +1,14 @@
+#include "globals.h"
+
+
+// Spinlock flags
+#define SPINLOCK_UNSET          0
+#define SPINLOCK_OPEN           1
+#define SPINLOCK_LOCK_CORE_0    2
+#define SPINLOCK_LOCK_CORE_1    3
+
+void spinlock_lock_core_0(byte* spinlock_flag); // Lock a spinlock from core 0
+
+void spinlock_lock_core_1(byte* spinlock_flag); // Lock a spinlock from core 1
+
+void spinlock_release(byte* spinlock_flag); // Release a spinlock

src/swerve.cpp

@@ -146,15 +146,27 @@ swerve_drive updateEncoderData(swerve_drive in, int front_left_encoder, int fron
     return out;
 }
 
-float normalizeAngle(float angle) { // Takes an input angle and normalizes it to an angle between 0.0 and 360.0 degrees, results excluding exactly 360.0 degrees
-    angle = fmod(angle, 360);
-    if(angle < 0.0) {
-        angle += 360;
+int normalizeEncoderData(int encoder_data) // Normalize encoder data to a range of [0, STEERING_ENCODER_TICKS_PER_ROTATION)
+{
+    encoder_data %= (int) STEERING_ENCODER_TICKS_PER_ROTATION;
+    encoder_data += (STEERING_ENCODER_TICKS_PER_ROTATION * (encoder_data < 0));
+    return encoder_data;
 }
+
+float relativeAngleFromEncoder(int encoder_data_relative ) // Calculate the relative angle from the difference between 2 encoder data points
+{
+    return ((float) normalizeEncoderData(encoder_data_relative)) / ((float) STEERING_ENCODER_TICKS_PER_DEGREE);
+}
+
+float normalizeAngle(float angle) // Takes an input angle and normalizes it to an angle between 0.0 and 360.0 degrees, results excluding exactly 360.0 degrees
+{
+    angle = fmod(angle, 360);
+    angle += (360 * (angle < 0.0));
     return angle;
 }
 
-swerve_drive setMotorCoefficients(swerve_drive input, float front_left, float front_right, float back_left, float back_right) { // Set the motor speed coefficients for each motor
+swerve_drive setMotorCoefficients(swerve_drive input, float front_left, float front_right, float back_left, float back_right) // Set the motor speed coefficients for each motor
+{
     swerve_drive out = input;
     out.front_left_coefficient = front_left;
     out.front_right_coefficient = front_right;
@@ -163,7 +175,8 @@ swerve_drive setMotorCoefficients(swerve_drive input, float front_left, float fr
     return out;
 }
 
-swerve_drive setTargetSpin(swerve_drive input, float front_left, float front_right, float back_left, float back_right) { // Set the target spin for each wheel
+swerve_drive setTargetSpin(swerve_drive input, float front_left, float front_right, float back_left, float back_right) // Set the target spin for each wheel
+{
     swerve_drive out = input;
     out.front_left_target_spin = front_left + input.spin_offset;
     out.front_right_target_spin = front_right + input.spin_offset;
@@ -172,7 +185,8 @@ swerve_drive setTargetSpin(swerve_drive input, float front_left, float front_rig
     return out;
 }
 
-swerve_drive setSpinOffset(swerve_drive input, float new_spin_offset) { // Set a new spin offset, and maintain the current target spin on each motor relative to the robot body as the offset is changed
+swerve_drive setSpinOffset(swerve_drive input, float new_spin_offset) // Set a new spin offset, and maintain the current target spin on each motor relative to the robot body as the offset is changed
+{
     swerve_drive out = input;
     
     float delta_spin_offset = new_spin_offset - input.spin_offset;
@@ -184,7 +198,8 @@ swerve_drive setSpinOffset(swerve_drive input, float new_spin_offset) { // Set a
     return out;
 }
 
-swerve_drive setDriveTargetPower(swerve_drive input, float target_drive_power) { // Set a new drive power
+swerve_drive setDriveTargetPower(swerve_drive input, float target_drive_power) // Set a new drive power
+{
     swerve_drive out = input;
     out.target_drive_power = target_drive_power;
     return out;

src/swerve.h

@@ -85,6 +85,10 @@ float calculateSteeringMotorSpeed(float steering_delta); // Calculate the speed
 
 swerve_drive updateEncoderData(swerve_drive in, int front_left_encoder, int front_right_encoder, int back_left_encoder, int back_right_encoder); // Process new encoder data, calculate the speed and angle of the steering motors
 
+int normalizeEncoderData(int encoder_data); // Normalize encoder data to a range of [0, STEERING_ENCODER_TICKS_PER_ROTATION)
+
+float relativeAngleFromEncoder(int encoder_data_relative ); // Calculate the relative angle from the difference between 2 encoder data points
+
 float normalizeAngle(float angle); // Takes an input angle and normalizes it to an angle between 0.0 and 360.0 degrees, results excluding exactly 360.0 degrees
 
 swerve_drive setMotorCoefficients(swerve_drive input, float front_left, float front_right, float back_left, float back_right); // Set the motor speed coefficients for each motor