navigator_ball_launcher: Create ball launcher package, add packets us…

…ed to communicate with board to docs

NaviGator/hardware_drivers/navigator_ball_launcher/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(navigator_ball_launcher)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+catkin_python_setup()
+
+catkin_package(
+)
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+endif()

NaviGator/hardware_drivers/navigator_ball_launcher/navigator_ball_launcher/__init__.py

@@ -0,0 +1,7 @@
+"""
+The :mod:`navigator_ball_launcher` module is used to control the ball launcher
+on NaviGator. The module implements the electrical protocol to communicate with
+a board that controls the flywheel and servo to drop the balls.
+"""
+
+from .packets import ReleaseBallPacket, SetSpinPacket

NaviGator/hardware_drivers/navigator_ball_launcher/navigator_ball_launcher/packets.py

@@ -0,0 +1,35 @@
+from dataclasses import dataclass
+
+from electrical_protocol import Packet
+
+
+@dataclass
+class ReleaseBallPacket(Packet, class_id=0x11, subclass_id=0x00, payload_format=""):
+    """
+    Packet sent by the motherboard to the board to release a ball (aka, spin the servo
+    such that one ball is released.)
+
+    A valid response to this packet being sent would be :class:`~electrical_protocol.AckPacket`
+    (if the ball was successfully released) or :class:`~electrical_protocol.NackPacket`
+    (if there was an issue).
+    """
+
+    pass
+
+
+@dataclass
+class SetSpinPacket(Packet, class_id=0x11, subclass_id=0x01, payload_format="<B"):
+    """
+    Packet sent by the motherboard to the board to spin up the flywheel.
+
+    A valid response to this packet being sent would be :class:`~electrical_protocol.AckPacket`
+    (if the flywheel was successfully spun up) or :class:`~electrical_protocol.NackPacket`
+    (if there was an issue).
+
+    Attributes:
+        spin_up (bool): A boolean used to represent whether the flywheel should
+            be spun up (aka, sped up to a fast rpm) or whether it should be spun
+            down (aka, slowed to zero rpm).
+    """
+
+    spin_up: bool

NaviGator/hardware_drivers/navigator_ball_launcher/package.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<package>
+  <name>navigator_ball_launcher</name>
+  <version>1.0.0</version>
+  <description>The navigator_ball_launcher package</description>
+  <maintainer email="cameron.brown@todo.todo">Cameron Brown</maintainer>
+  <license>MIT</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <run_depend>rospy</run_depend>
+  <export/>
+</package>

NaviGator/hardware_drivers/navigator_ball_launcher/setup.py

@@ -0,0 +1,11 @@
+# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from catkin_pkg.python_setup import generate_distutils_setup
+from setuptools import setup
+
+# Fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=["navigator_ball_launcher"],
+)
+
+setup(**setup_args)

docs/navigator/reference.rst

@@ -391,3 +391,23 @@ RobotXClient
 
 .. autoclass:: navigator_robotx_comms.nodes.robotx_comms_client.RobotXClient
     :members:
+
+:mod:`navigator_ball_launcher` - Ball launcher
+----------------------------------------------
+
+.. automodule:: navigator_ball_launcher
+    :members:
+
+ReleaseBallPacket
+^^^^^^^^^^^^^^^^^
+.. attributetable:: navigator_ball_launcher.ReleaseBallPacket
+
+.. autoclass:: navigator_ball_launcher.ReleaseBallPacket
+    :members:
+
+SetSpinPacket
+^^^^^^^^^^^^^
+.. attributetable:: navigator_ball_launcher.SetSpinPacket
+
+.. autoclass:: navigator_ball_launcher.SetSpinPacket
+    :members:

docs/reference/electrical_protocol.rst

@@ -102,10 +102,16 @@ byte length.
 | (System    |              |                |                                                                         |
 | Status)    |              |                |                                                                         |
 +------------+--------------+----------------+-------------------------------------------------------------------------+
-| 0x10       | 0x00         | ``?B``         | :class:`navigator_pico_kill_board.KillSetPacket`                        |
+| 0x10       | 0x00         | ``?B``         | :class:`navigator_kill_light_board.KillSetPacket`                       |
 | (NaviGator +--------------+----------------+-------------------------------------------------------------------------+
-| Temporary  | 0x01         | ``?B``         | :class:`navigator_pico_kill_board.KillReceivePacket`                    |
-| Pico Kill  |              |                |                                                                         |
+| Temporary  | 0x01         | ``?B``         | :class:`navigator_kill_light_board.KillReceivePacket`                   |
+| Pico Kill  +--------------+----------------+-------------------------------------------------------------------------+
+| Board)     | 0x02         |                | :class:`navigator_kill_light_board.SetMovementModePacket`               |
++------------+--------------+----------------+-------------------------------------------------------------------------+
+| 0x11       | 0x00         | Empty          | :class:`navigator_ball_launcher.ReleaseBallPacket`                      |
+| (NaviGator +--------------+----------------+-------------------------------------------------------------------------+
+| Ball       | 0x01         | ``B``          | :class:`navigator_ball_launcher.SetSpinPacket`                          |
+| Launcher   |              |                |                                                                         |
 | Board)     |              |                |                                                                         |
 +------------+--------------+----------------+-------------------------------------------------------------------------+