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Save robot configuration with dataclasses #254

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Save robot configuration with dataclasses #254

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codingpaula
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@codingpaula codingpaula commented Jan 15, 2025 •
edited by pascalzauberzeug
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This PR introduces a new format to save robot configurations.

Changes

  • rename thooth_count to tooth_count
  • add FieldFriendConfiguration dataclass with more configurations as properties
  • update field_friend_hardware.py to use the new FieldFriendConfiguration
    • remove check_pins function
    • remove LedEyesHardware since it's not used anymore
    • remove differentiation between Tornado v1.0 and v1.1
    • remove flashlight v1
  • add configuration for u4
  • correct some types in tornado.py and others

ToDos

  • update get_config to dynamically load configuration
  • test new configuration with u4
  • transfer all configurations into new format
  • check if m_per_tick is used correctly in all hardware elements
  • remove flashlight v1 class as well?

@codingpaula codingpaula added the enhancement New feature or request label Jan 15, 2025
@codingpaula codingpaula self-assigned this Jan 15, 2025
@pascalzauberzeug pascalzauberzeug added this to the 0.8.0 milestone Jan 15, 2025
pascalzauberzeug
pascalzauberzeug approved these changes Jan 21, 2025
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I think we can convert the other configs

field_friend/hardware/field_friend_hardware.py
m0_can_address=config.external_mower.m0_can_address,
m1_can_address=config.external_mower.m1_can_address,
m2_can_address=config.external_mower.m2_can_address,
m_per_tick=self.M_PER_TICK, # TODO: this is a different value than in external_mower.m_per_tick!!
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@Johannes-Thiel do you know why the mower uses M_PER_TICK and not the 0.01 from the config?

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I merged main into this branch and added a gnss configuration

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@pascalzauberzeug pascalzauberzeug pascalzauberzeug approved these changes

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@codingpaula @pascalzauberzeug