This is the API documentation for the KLASK Hardware ROS2 packages.

Packages

klask_motor_commander_pkg

C++ package for controlling ODrive motors in a differential drive configuration. Handles peg synchronization, collision detection, and coordinated movement.

Key Classes:

• Player - Main controller for player peg movement
• ODriveController - Low-level motor communication interface
• OpenLoopController - Open-loop control implementation

klask_imaging_pkg

Python package for camera-based vision processing. Performs perspective transformation, board detection and cropping.

Key Modules:

• CameraNode - Main ROS2 node for image acquisition and processing
• utils - Calibration and filtering utilities
• debug - Visualization and debugging tools

klask_interfaces

Message, service, and action definitions for inter-node communication.

Getting Started

Navigate through the Namespaces, Classes, and Files tabs above to explore the API documentation.