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Taproot Changelog

June 2025

  • Removed the automatic use of MultiEncoder for (Double)DjiMotor.
    • Can be reenabled with the option taproot:core:use_multi_encoder

May 2025

  • Inverted the gear ratios in DjiMotorEncoder so that they are output/input.
  • Changed Butterworth filter to a function that returns a coefficients struct to avoid issues with accidentally switching the forced and natural response coefficients
  • Added Odometry2DInterface::overrideOdometryPosition.
  • Butterworth filter generation now supports lowpass, highpass, bandpass, and bandstop.

April 2025

  • Transform now stores translational velocity and acceleration, as well as angular velocity.
    • compose()ing such "Dynamic Transforms" correctly updates all derivatives.
    • staticCompose() can be used to ignore derivatives if they're not needed to reduce computation.
    • projectForward() projects the transform forward in time.
  • Added DynamicPosition and DynamicOrientation classes, which also store their derivatives.
  • ImuInterface no longer contains getTemp in order to support more inertial measurement sources
  • Breaking: All IMU related values are now in radians. (get[Roll/Pitch/Yaw]() in rad, getG[x/y/z]() in rad/s)
  • Added Butterworth filter coefficient generation. -When constructing a butterworth filter of n order pass in the sample time difference and cutoff frequency in radians/s to obtain a list of coefficients for use in the discrete filter.
  • Added discrete filter object -Takes in a list of natural and forced response coefficients; will compute the next filtered value when .filterData() is called. .reset() clears the natural and forced response but keeps the coefficients. .getLastFilteredValue() gets the last filtered value.
  • Updated to Ref Serial v1.7.0.
    • Removed all references to Standard 5.
    • Removed chassis power, voltage, and current fields.
    • Additional RMUC changes.
  • Added VoltageSensorInterface.
  • PowerLimiter also takes in a VoltageSensorInterface*.
  • Brought bmi088.read() in line with the mpu6500.read() method, which now waits to read till the sampling frequency is reached.
  • IMUs extending AbstractImu can now have a mounting transform applied.
  • Added ARUW's Can Encoder.

March 2025

  • Removed limitation of 0x1E4 to 0x224 on CAN IDs.
  • Added Encoders
    • Added EncoderInterface, which is a interface for all possible encoders.
      • getPosition() returns a WrappedFloat for the position in radians.
      • getVelocity() returns a float in radians/second.
      • isOnline() returns true is the encoder is online.
      • resetEncoderValue() zeros the encoder to its current location.
      • alignWith(EncoderInterface*) aligns the position of this encoder to another encoder.
    • Added WrappedEncoder, which is an base class for all encoders that have a certain number of ticks per revolution.
      • The constructor takes a gear ratio, which is output rotations over input rotations.
      • Calculates the velocity as the instananeous difference between two positions and the timestep.
      • getEncoder() returns the raw encoder value as a WrappedFloat.
      • Can be inverted, similar to motors.
    • Added MultiEncoder, which allows the combination of multiple encoders into a single encoder.
      • Has a primary encoder (first in the array), that is used to align other encoders.
      • Averages out the position and velocity of all online encoders.
    • Added MotorInterface::getEncoder()
      • Replaces the use for the encoder related methods in the interface, which have been deprecated.
      • Removed the getEncoderWrapped and getEncoderUnwrapped methods as those no longer make sense.
    • Added DjiMotorEncoder
      • Refactored version of the encoder that was in DjiMotor
      • getShaftRpm() returns the shaft rpm reported by the encoder.
      • Moved the gear ratios from DjiMotor to this class.
    • Modified DjiMotor and DoubleDjiMotor constructors.
      • No longer able to specify the starting position and rotation count.
      • Added parameters:
        • gearRatio, defaults to 1.
        • encoderHomePosition[One], defaults to 0.
        • externalEncoder, defaults to nullptr.
  • Removed a lot of drivers.hpp and dji_motor.hpp includes where not needed.
    • Moved MotorId into dji_motor_ids.hpp
  • Testing
    • Made it possible to specify the raw encoder position and shaft rpm to DjiMotorEncoderMock to minimize test changes.
    • Can now specify test="..." to run specific tests that match GTest's regex. Only available in test-project, but code is copyable.
  • Added proper build caching to speed up pipelines, taproot only.
  • Made IMU getters const.

February 2025

  • Added AbstractIMU.
    • Combines the shared logic between the Bmi088 and Mpu6500 IMUs.
    • Has an internal mahony for computing pitch/roll/yaw.
    • Designed for interactions with IMU devices, while ImuInterface is now for generic IMU data.
  • Implemented SH1107 functionality with the ability to rotate the screen 90 degrees.

January 2025

  • Added support for current control on GM6020 motors.

November 2024

  • Updated GovernorWithFallbackCommand such that if the governed command is selected, the command stops if any governor is finished. Also stops the fallback command if all governors become ready.

October 2024

  • Added SequentialCommand
    • Allows running multiple commands in order.
  • Added Concurrent[Race]Command
    • Allows running multiple commands at the same time.
    • The race variant ends when any command has finished, while the normal variant waits for all to finish.
  • Refactored the hardware testing feature.
    • Hardware tests are now done through commands set with Subsystem::setTestCommand
    • Hardware tests now only run when the robot is out of safe disconnect mode.
    • All tests are runnable with CommandScheduler::runAllHardwareTests, while individual tests can be run with CommandScheduler::runHardwareTest(const Subsystem*)
    • Similarly, CommandScheduler::stopAllHardwareTests and CommandScheduler::stopHardwareTest(const Subsystem*) exist.
    • CommandScheduler::isRunningTest(const Subsystem*) returns true if the subsystem is running a hardware test.
    • CommandScheduler::hasPassedTest(const Subsystem*) returns true if the subsystem has passed a hardware test.
    • CommandScheduler::countRunningHardwareTests() returns the number of hardware tests currently running.
    • Hardware Test Menu:
      • The tests now must be manually run and don't start when the menu is open.
      • There is now a line showing how many tests are running.
      • Each test is individually runnable and stoppable.
      • x is shown for failed/incomplete tests, + is shown for passed tests.
  • Updated the mpu6500 and bmi088 to allow for variable temperature setpoints. This was done as in testing, the type C board was found to operate at a lower tempreature than the type A.
  • Updated MahonyAHRS for IMUs to no longer include the 180 degree offset. IMUs will now intitialize at 0 degrees.

Breaking Changes

  • Removed Subsystem::isHardwareTestComplete, Subsystem::setHardwareTestsIncomplete, Subsystem::setHardwareTestsComplete, Subsystem::runHardwareTests, Subsystem::onHardwareTestStart, Subsystem::onHardwareTestComplete
  • Removed CommandScheduler::startHardwareTests, CommandScheduler::stopHardwareTests

September 2024

  • Added some more utility functions to WrappedFloat
    • withinRange, rangeOverlap can be used to deal with wrapped ranges
    • withSameBounds and Angle::fromDegrees can be used to construct WrappedFloats
    • Fixed a bug with how revolutions was calculated

Breaking Changes

  • Bmi088 now has seperate periodicIMUUpdate and read methods. periodicIMUUpdate should be called at a fixed rate of mahony, and read should be called at a rate such that periodicIMUUpdate <= read <= sampling rate.
  • The Angle class within WrappedFloat now has bounds of 0 to 2pi as opposed to -pi to pi. This affects values gotten from getWrappedValue().

July 2024

  • Added taproot:modm-project.xml:modm_hal_modules option to include additional user-defined modm modules.

June 2024

  • Reduced max Ref Serial Transmission from 1280 bytes to 1000 bytes per second.
  • Improved calculation for Ref Serial Transmitter timer lengths.
  • Fixed bug where VerticalScrollLogicHandler::getLargestIndexDisplayed() returns index out of bounds when size is less than max entries
  • Substituted uses of UnjamIntegralCommand with new marker interface UnjamCommandInterface to allow custom agitator unjam behavior. Any desired unjam behavior can be put into an implementer of UnjamCommandInterface and fed into the MoveUnjamIntegralComprisedCommand.
  • Added copy assign operators to transforms::Position and transforms::Vector, as well as dot product, magnitude, and interpolation helpers.
  • Expand DjiSerial Rx buffer to 1024 bytes.
  • Remove check in addMap() preventing mappings with equal remote map states to allow for different command mapping implementations with different behaviors using the same remote state.

May 2024

Breaking Changes

  • Ballistics now uses AbstractKinematicState instead of MeasuredKinematicState. This is a breaking change.
    • The previous functionality is still present in SecondOrderKinematicState, so migrating over would involve replacing all usages of MeasuredKinematicState with this.
    • This allows teams to define custom motion models for their kinematic states by extending AbstractKinematicState and implementing projectForward(float dt)
    • Accessing the initial position has been replaced with .projectForward(0)

April 2024

  • Updated Ref Serial to support version 1.6.1. This has major breaking changes, but these are nessecary for working robots. See this document for more information.
  • Added gear ratios and max outputs for more motors to DjiMotor as constants.
  • Added in I2C support for development board type A.
  • Make Subsystem::getName() const.
  • Replaced ContiguousFloat with WrappedFloat
    • "[x]=" operators are now overloaded for arithmetic between WrappedFloats with identical bounds (Replaces WrappedFloat.shiftUp/Down)
    • WrappedFloat.difference is now WrappedFloat.minDifference and returns a float
    • WrappedFloat.get/setValue is now WrappedFloat.get/setWrappedValue, with the addition of WrappedFloat.get/setUnwrappedValue

March 2024

  • Added in constants for motor max output for the GM6020 and C620 motor controller
  • Minor change to command mapping to allow for easier extended command mappings

Febuary 2024

  • Updates to transform to compute roll, pitch, and yaw
  • Updated IMU with fixes to calibration and added support for variable calibration periods

January 2024

  • Actually wait for semaphore to be released in ref serial transmitter before trying to write again.

November 2023

  • Added registerAndInitialize function to tap::control::Subsystem to simplify the repetitive process of registering & initializing subsystems.

October 2023

  • Added timeRemaining method to Timeout class.

July 2023

  • Check to make sure message length of interrobot communications is not 1 byte; it seems that this is an undocumented requirement for a successful transmission.
  • CMSISMat supports costly copy constructor/assignment

Transforms Library

  • Position class and Vector class which represents a difference in Positions
    • These differing types allow transforms to be more clear about the mathematical objects they operate on
  • Orientation class
  • Transform class which represents a transformation from one coordinate frame to another.
  • Added cross and fromEulerAngles to math_user_utils

June 2023

Breaking Changes

  • SafeDisconnect mode is now handled with refreshSafeDisconnect, which is run instead of refresh when in SafeDisconnect.
    • SafeDisconnect will still deschedule all commands when it is entered
    • Fix: All subsystems must now override refresh and refreshSafeDisconnect
  • ChassisSubsystemInterface no longer has a get\[Left/Right\]\[Front/Back\]RPM() method
    • Fix: Remove override from these method headers

New Features

  • MotorInterfaces can now have their motor encoder values zero'd
  • BilinearInterpolator: Can interpolate between values within a map of <(x,y), VALUE>
  • CMSISMat now has negate and scale operators
  • Can classes are now protected instead of private
  • taproot-scripts submodule has been updated so that different taproot branches can be tracked instead of just release or develop

April 2023

Breaking changes

  • tap::motorInterface has two new methods to get position in radians. This is implemented already in DjiMotor and DoubleDjiMotor. addsinterpolateLinear2D` to math_user_utils, which is a bilinear interpolator for regularly-spaced datasets.

November 2022

Breaking changes

  • Remote::getWheel removed and replaced with a new (normalized) option for Remote::getChannel.

May 2022

Breaking changes

  • MotorSim and DjiMotorSimHandler APIs slightly changed, though functionality remains the same.
  • Ballistics now provide projectile travel time as an output parameter

All changes

  • GovernorLimitedCommand added, a wrapper command that allows one to specify various conditions for the command being wrapped to run (!206).
  • RefSerialData's MechanismID enum values were changed to reflect changes in the RoboMaster ref serial protocol.
  • IntegrableSetpointSubsystem and associated commands added. This allows you to move the integral of some setpoint around. An example of where this is useful would be velocity control of a motor, where you want to directly control the velocity of the motor and indirectly control the position (!188).
  • Ballistics now provide projectile travel time as an output parameter

April 2022

Breaking changes

  • Ref serial transmitter class added, which pulls out transmission-related code from the RefSerial class. Furthermore, functions that transmit directly handle bandwidth considerations in the RefSerialTransmitter class. An instance of this class should be instantiated for each protothread that ref serial transmissions will be performed in (!161, #175).
  • Ref serial data AddGraphicOperation enum renamed to GraphicOperation.
  • taproot:modm_repo_lb option has been removed since it is not necessary for the user to specify this (!181, #82)

All changes

  • Ref serial transmitter class allows for multiple protothreads to safely and concurrently interact with the ref serial UART port (!161, #175).
  • Ref serial receiver now decodes game type and warning status information (!184).

March 2022

Breaking changes

  • The Mpu6500 object is now generated from the module taproot:communication:sensors:imu:mpu6500. mpu6500.hpp is now in the directory src/tap/communication/sensors/imu. The namespace structure has been updated accordingly (#18, !119).
  • The Mpu6500TerminalSerialHandler has been renamed to ImuTerminalSerialHandler. This driver is no longer generated as part of drivers.hpp. You should put this object in your drivers object if you want to use it. This serial handler now takes in a pointer to a ImuInterface object (#18, !119).
  • SmoothPid constructor that takes in individual gains (as opposed to a parameter struct) removed (!163).

All changes

  • Unit tests added for Remote class.
  • Minor improvements to DjiMotorTxHandler class. Some API function names have been changed.
  • ImuInterface added such that IMUs can be interchanged in various situations (#18, !119).
  • ImuMenu added that prints information about an instance of an ImuInterface (#18, !119).
  • Zero-length UART messages are no longer thrown out by DjiSerial class.
  • CAN 2 pin defines for the Type C board are no longer incorrect (!165).

February 2022

Breaking changes

  • Namespace tap::serial renamed to tap::communication::serial.
  • DJISerial class no longer has a send function because it was clunky and unintuitive to use.

All changes

  • The BMI088 IMU on the RoboMaster Development Board Type C is now supported. The API is very similar to the Mpu6500 class, with functions to get the accelerometer/gyroscope/angle data. The IMU by default connects but doesn't calibrate when the initialize function is called. To calibrate the IMU, call the requestRecalibration function, which will cause the IMU to stop computing angle data for a couple seconds while the IMU is calibration. For calibration to be performed correctly, the BMI088 should be level (#18, !96).
  • To compliment the referee serial class, a new StateHudIndicator object added to store state and update graphics based on its internal state (!102).
  • Minor cleanup to the DJISerial class (including tests).
  • Add some utilities to the DJISerial::SerialMessage class.
  • Add generic RemoteMapState constructor (!137).
  • Fixed Profiler class. You can now use the PROFILE macro when profiling is enabled without the system running out of memory.
  • Add parameters to Bmi088 initialize function to allow the user to configure gains on the Mahony algorithm, add reset function to Mahony algorithm (!141)

January 2022

Breaking changes

  • tap::controls::ControlOperatorInterface has been removed from Taproot. We have added it to our personal open-source project, aruw-mcb for those who would like to keep up with our implementation of that feature, but it will need to be added/implemented externally going forward in order to keep the functionality it provides.
  • tap::controls::chassis::PowerLimiter API changed significantly. The constructor now takes in less parameters than before and their purpose is different. Also, rather than modifying motor outputs directly, the power limiter returns a fraction and it is the user's responsibility to multiply the motor output by this fraction.
  • in the Mpu6500 class, function called initialized changed to getImuState since the mpu's hardware can be "initialized" but not necessarily calibrated/ready to use.
  • Mpu6500 class contains requestCalibration function, which when called the mpu6500 enters a calibration state and the mpu6500 recomputes calibration parameters (!12, #123). You should call this function in user code to ensure proper calibration of the IMU.
  • The HoldRepeatCommandMapping requires an extra parameter in its constructor. See all changes for more details.
  • Almost everything in tap::control::setpoint has changed (!49). Most will fail loudly (i.e.: will cause compilation errors). Those that are potentially more insidious are documented below:
    • Order of parameters in constructor for tap::control::setpoint::MoveUnjamComprisedCommand changed (grouped by usage now). This is VERY IMPORTANT to catch and check as compiler may not throw warning.
  • When testing, setTime has bene replaced by a ClockStub object that you should use to control the time in the context of a test.

All changes

  • DjiMotor comments improved (!95).
  • Small improvement to command scheduler subsystem refresh loop logic.
  • tap::communication::sensors::current::CurrentSensorInterface and AnalogCurrentSensor added, which are software constructs for current sensors.
  • Power limiting logic improved and simplified, interfaces with a generic CurrentSensorInterface (!92).
  • Taproot tests now build on Windows without warnings (!103).
  • tap::controls::ControlOperatorInterface deprecated (!105).
  • tap::controls::turret::TurretSetpointCommand deprecated.
  • Tests added for commands in tap::control::setpoint (!49)
  • Mpu6500 class contains requestCalibration function, which when called the mpu6500 enters a calibration state when isReady returns false and the mpu6500 recomputes calibration parameters.
  • HoldRepeatCommandMapping now has an extra parameter endCommandsWhenNotHeld. When set to false, commands are not forcibly ended when the remote state transitions from being held to hot held and instead are left to end naturally (or until interrupted by something else) (#95, !114).
  • Print a clearer error message when the chosen compiler is not found on PATH. (!97)
  • HAL options may be now passed to modm's project.xml file (!116).
  • Support for UART ports 7 and 8 added to dev board type A (!116).
  • Baud rates in dji_serial.cpp configurable via the project.xml file (#50, !116).
  • Various improvements to the commands in tap::control::setpoint (!49).
    • Unjamming logic more straightforward.
    • MoveCommand pause after rotate time now functions as described.
  • A ClockStub object has been added to allow the user to control the time during testing. This is a more refined approach that replaces the setTime function previously in src/tap/arch/clock.hpp.

December 2021

Breaking changes

  • The ErrorController now no longer displays errors on the LEDs of the RoboMaster Type A board. Now, to create an error using the RAISE_ERROR macro, you only pass in a pointer to a tap::Drivers object and a description (i.e. RAISE_ERROR(drivers, "crc failure")).
  • Minor cleanup to the RefSerial object. Some fields in the RefSerial class now use MODM_FLAGSX. See modm's documentation for how these work. Structs and enum values previously stored directly inside the RefSerial object now must be prefixed by Rx or Tx.
  • tap::communication::serial::ITerminalSerialCallback interface renamed to tap::communication::TerminalSerialCallbackInterface.
  • The drivers object is now generated in taproot/src/tap rather than in some user directory. To append your own drivers to the tap::Drivers object, inherit tap::Drivers.
  • tap::controls::chassis::PowerLimiter API changed significantly. The constructor now takes in less parameters than before and their purpose is different. Also, rather than modifying motor outputs directly, the power limiter returns a fraction and it is the user's responsibility to multiply the motor output by this fraction.
  • in the Mpu6500 class, function called initialized changed to getImuState since the mpu's hardware can be "initialized" but not necessarily calibrated/ready to use.
  • Mpu6500 class contains requestCalibration function, which when called the mpu6500 enters a calibration state and the mpu6500 recomputes calibration parameters (!12, #123). You should call this function in user code to ensure proper calibration of the IMU.

All changes

  • Tests were added to the referee serial class. Minor logic/bug changes were made based on the tests (!80, #80).
  • Robot-to-robot interaction handling was added to the RefSerial class. One can send a robot-to-robot message via sendRobotToRobotMsg and register a callback with the RefSerial object via attachRobotToRobotMessageHandler. This functionality is still in the beta-testing phase and needs further validation (!80, #80).
  • CanRxHandler class now supports can ids between 0x1e4 and 0x224. (!84, #124)
  • Tests added to terminal serial and various bugs in related classes were removed (!67, #58).
  • The CommandScheduler is now able to safely remove all commands when a user-specified "disconnected" state occurs. One can pass a SafeDisconnectFunction functor to the CommandScheduler to determine what causes a "disconnected" state (!75).
  • modm:math:interpolation module now generated (!93).

November 2021

Breaking changes

  • The sim-modm directory in a generated Taproot instance has a new structure. Files are now in sim-modm/hosted-TARGET/modm, where TARGET is linux, windows or darwin. Make sure to delete and cleanly re-generate your Taproot instance, and update your SConstruct file as shown in the template project.
  • The ErrorController now no longer displays errors on the LEDs of the RoboMaster Type A board. Now, to create an error using the RAISE_ERROR macro, you only pass in a pointer to a tap::Drivers object and a description (i.e. RAISE_ERROR(drivers, "crc failure")).

All changes

  • "sim-modm" instance is now generated for all three major desktop platforms, with hardware builds and testing environments fully supported on each. (!73, #96, #15)