[admin] rebase auton integration #7
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Add README documentation to guide understanding of navigation codebase.
* Updated nodejs version to fix dependency error * Added specific branch builds to travis to reduce number of travis builds
Change due to gearboxes switching direction of travel Co-authored-by: catress <[email protected]>
* Updated jetson odrive version to 0.5.4. API changes from 0.5.2 don't seem to affect current code base * Fixed some enum syntax issues. Builds properly now. * new firmware updates * temp change to make middle left odrive 2x speed * Fix code since middle is 1, not 2 * Fix to make sure to use global legal_controller * linter * watch dog changes from the jetson * half works * watchdog changes... still in progress * handles unplugging * able to handle hall lines begin unplugged/other errors in general * shortend watch dog timeout, cleaned up error handling code a little and got rid of legal_axis/drive_state_cmd functionality * rolling rover odrive IDs * clean up + updated requirements to merge easier * updated .gitignore * linter? Co-authored-by: Carmen <[email protected]> Co-authored-by: Xavier 2 <[email protected]> Co-authored-by: tabiosg <[email protected]> Co-authored-by: Percep <[email protected]>
* forced python-venv creation to use python3.7, resolved cython and scipy build issues * fixes to support more machines, including machines that allow whitespace in file paths * updating deps, the python3.7 cmd is not recongized unless python3.7 is the default version running on the jetson which leads to other ubuntu 18.04 issues * scipy version * [nav] Add Navigation README Documentation (#761) Add README documentation to guide understanding of navigation codebase. * upgarded deps...this won't current pass travis * scipy version corrected * updated websockets to version compatible with python3.7 * changed the venv cmd back to 3.7, travis should be able to handle * fixed dependecy problem to get PR to pass travis, can't use python 3.7 atm unless ubuntu's default version of python is switched to 3.7 however other features are in this PR that should be merged in
Migrating over to ubuntu20.04 soon enough, reverting this to work with 3.6 until that update goes through since it's causing issues
Refactored inverse kinematics from Python to C++, fixed bugs, and updated GUI Integrated and tested code with nucleo bridge for 6 DOF arm
cleaned up state machine and threading logic + modified to work with different odrive firmware
…ion Noise Code Reduction (#943)
code clean up + proper use of locking/unlocking so that it handles if an odrive gets disconnected while a lock is acquired around the odrive object
cgiger00
added a commit
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Apr 3, 2022
…op, and more (umrover#964) * starter science bridge code - untested, borrows from rtk handler * updated thermistor struct and science_bridge program with thermistor code * inital commit * Created README and documented thermistor bridge code * Update README.md * Nathan's testing version changes * Fixed indent * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * [Mosfet] Untested Mosfet callback implementation * Update README.md * onboard/science_bridge/src/__main__.py * [Mosfet] Fixed Struct and uart port * spectral code and lcm struct * Update README.md * Added code for the repeater drop * added Spectral sensor code bridge -not fully tested yet. Also fixed missing semicolons in MosfetDmc.lcm * Fixed lcm back into asynclcm after merge * Changed LCM to asyncLCM * Added base code for nav_status rgb * Changed repeater channel and added flashing for nav_status * thermistor and spectral code working and tested with arduino-beaglebone. Still needs testing on nucleo * fixed lcm * got rid of peristaltic pump code * [Mosfet] Added reset to nav status and publish to dropper complete for rr dropper * Fixed LCM inconsistencies * Update README.md * Working thermistor bridge code * [Nav_Status]Removed led reset for nav status * Turned off other leds after changing nav status * working thermistor and spectral bridge code (tested simultaneously * new changes to ammonia * Added Repeater drop tag/handler and receive code * jetson added * updated thermistor struct and science_bridge program with thermistor code * Created README and documented thermistor bridge code * Update README.md * Nathan's testing version changes * Fixed indent * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * [Mosfet] Untested Mosfet callback implementation * onboard/science_bridge/src/__main__.py * Update README.md * spectral code and lcm struct * merge * added Spectral sensor code bridge -not fully tested yet. Also fixed missing semicolons in MosfetDmc.lcm * merge * Update README.md * merge * Changed LCM to asyncLCM * thermistor and spectral code working and tested with arduino-beaglebone. Still needs testing on nucleo * Added base code for nav_status rgb * merge * fixed lcm * merge * new changes to ammonia * merge * merge * Fixed LCM inconsistencies * Update README.md * working thermistor and spectral bridge code (tested simultaneously * [Nav_Status]Removed led reset for nav status * Added Repeater drop tag/handler and receive code * Turned off other leds after changing nav status * rebase * updated thermistor struct and science_bridge program with thermistor code * rebase * Update README.md * Nathan's testing version changes * Fixed indent * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * [Mosfet] Untested Mosfet callback implementation * onboard/science_bridge/src/__main__.py * Update README.md * spectral code and lcm struct * rebase * Debugged Repeater code * rebase * rebase * Update README.md * rebase * Changed LCM to asyncLCM * thermistor and spectral code working and tested with arduino-beaglebone. Still needs testing on nucleo * Added base code for nav_status rgb * rebase * fixed lcm * rebase * new changes to ammonia * Working thermistor bridge code * rebase * rebase * Update README.md * working thermistor and spectral bridge code (tested simultaneously * rebase * Added Repeater drop tag/handler and receive code * Turned off other leds after changing nav status * Fixed jarvis build errors. Need to work out getting uart output to work * [Mosfet] Added Await in receive for coroutines * Moved Await lower to end of loop * Update README.md * Changed ammonia message creation to fit variable length * Fixed struct name for AmmoniaCmd * Removed print * Added timeout to readline * Update README.md * Update README.md * Update README.md * updated mosfet struct * Started Linting * jetson usb changes * modified spectral code * updated speed * science bridge code (umrover#692) * Update README.md * Update README.md * Fixed double digit Mosfet device bug, changed padding on all sent messages to 20 * Undid Nav Status Changes * Added HBridge error checking to readme * Create README.md * Accidentally deleted Alan's README changes * Update README.md * Fixed linter errors in science_bridge * working and tested bridge code * Update README.md * Update README.md * PR changes Co-authored-by: jjtom <[email protected]> Co-authored-by: Polishdudealan <[email protected]> Co-authored-by: jjtom34 <[email protected]> Co-authored-by: Beaglebone B <[email protected]> * servo bridge updated * Fixed lcm to pinout translation for mosfet * Fixed translation offset * Fixed servo subscribe * Fixed Translation * Update ServoCmd.lcm * Update servo code to match new ServoCmd.lcm and remove radio repeater drop code * Add spectral triad code * Fix Triad Output Flip MSB and LSB when recombining sent data from Spectral triad TODO: investigate order that data is sent, looks flipped from single spectral * short informal read me * Fix padding * Change readme.md * Update README * Update README * Update readme.md * [admin] Resolved cython and scipy build issues (umrover#597) (umrover#597) * forced python-venv creation to use python3.7, resolved cython and scipy build issues * fixes to support more machines, including machines that allow whitespace in file paths * updating deps, the python3.7 cmd is not recongized unless python3.7 is the default version running on the jetson which leads to other ubuntu 18.04 issues * scipy version * [nav] Add Navigation README Documentation (umrover#761) Add README documentation to guide understanding of navigation codebase. * upgarded deps...this won't current pass travis * scipy version corrected * updated websockets to version compatible with python3.7 * changed the venv cmd back to 3.7, travis should be able to handle * fixed dependecy problem to get PR to pass travis, can't use python 3.7 atm unless ubuntu's default version of python is switched to 3.7 however other features are in this PR that should be merged in * Added in Carousel receive and handler * Added carousel lcm messages * Untested changes for spectral stuff * Properly handle triad code * changed microscope camera name to get it working properly on nano * Change int to uint in spectral and triad handlers * Clean up syntax and stop printing empty messages * Update outdated comment for carousel * Delete extra print messages, change naming, and change padding * Fixed Carousel message not capitalized * Camera test * Get rid of extra files * device = * device = DIFF * ansible stuff * revert jetson changes * more changes * Remove backslashes and correct pipeline * Add auto reset * Change for python 3.8 * Remove async * fix * restart stuff * Change to async * Change service settings * Merge fixes * CarouselClosedLoopCmds * Update another carousel lcm * hi * Exception as e * Print e * casing error * Fix Jonah's typo * Bring back python code * add gst init * Add gstreamer ansible services * Change service names * Added carousel openloop and lcms in lcm_echo * Explicitly say user is mrover * Use jetson-util Python bindings Requires `export LD_LIBRARY_PATH to have /home/mrover/jetson-utils/build/aarch64/lib` Requires `make install` in /home/mrover/jetson-utils/build/python` Currently I'm altering `sys.path` until I know how to do that properly with Jarvis * Merge changes and remove outdated python code * Update README, ansible scritps, and array bug * readme bug * readme bug * Add new LCMs for heater control * Rework heater auto shutdown to rely on ESW * Make carousel openloop cmd not start till button press * Initial implementation of streaming 2 cameras only * Reorganize code with new function * Update syntax * Add self * too many blank lines fix * Move functions out of class * Fix variable name * More specific print messages * Change ports back to 0 and 1 for base_station camera program * Change lcm and restructure code to work for two ports only * [teleop] Update GUI camera functionality (#7) * changed Cameras.lcm to 0-7, separated microscope and fixed camera controls bug * changed Cameras lcm * Changed camera indexing and cameras connection box Co-authored-by: ErikLytle <[email protected]> * Added heater/autoshutdown lcm handling * Lint * [teleop] Clean up camera GUI code (umrover#9) * changed Cameras.lcm to 0-7, separated microscope and fixed camera controls bug * changed Cameras lcm * Changed camera indexing and cameras connection box * Clean up cam variables, let use select no camera for both * Remove unnecessary camera options Co-authored-by: ErikLytle <[email protected]> * some changes * fix if statement * bug fix * changes * changes 2 * working camera code! * Readd accidently pushed deleted code * Heater Shutoff code * Take out beaglebone stuff * linter stuff * arr[2] not arr[1] * Tested autoshutdown code fixes * Fix thermistor decimals and Chlorophyll labels (umrover#10) * Update naming * Update carousel display (umrover#11) * make some things more consistent (utf8 to utf-8) * Remove print statements in receive function * Update carousel display (umrover#12) * Filter out repeated openloop msgs * Cosmetic Carousel lcm changes (umrover#13) * [teleop] Changed strip test angles (umrover#14) * changed servo angles * prompt fix * commented out color changes Co-authored-by: ErikLytle <[email protected]> * Change to elif statements * Deleted outdated comment * Add prompt for filename when generating reports (umrover#16) * [teleop] Created color-changing status box for strip test (umrover#15) * changed servo angles * prompt fix * commented out color changes * Added color changing status box Co-authored-by: ErikLytle <[email protected]> Co-authored-by: Carmen Giger <[email protected]> Co-authored-by: Polishdudealan <[email protected]> Co-authored-by: Polishdudealan <[email protected]> Co-authored-by: Beaglebone B <[email protected]> Co-authored-by: jjtom <[email protected]> Co-authored-by: Demo User <[email protected]> Co-authored-by: jjtom34 <[email protected]> Co-authored-by: Beverly <[email protected]> Co-authored-by: Jetson Nano <[email protected]> Co-authored-by: Auton <[email protected]> Co-authored-by: Sashreek Shankar <[email protected]> Co-authored-by: test <test> Co-authored-by: raytitan <[email protected]> Co-authored-by: wilsonchen02 <[email protected]> Co-authored-by: mrover <mrover@nano> Co-authored-by: catkims <[email protected]> Co-authored-by: Quintin <[email protected]> Co-authored-by: catress <[email protected]> Co-authored-by: Erik Lytle <[email protected]> Co-authored-by: ErikLytle <[email protected]> Co-authored-by: Cameron Tressler <[email protected]> Co-authored-by: amszuch <[email protected]>
cgiger00
added a commit
that referenced
this pull request
Apr 5, 2022
…op, and more (umrover#964) * starter science bridge code - untested, borrows from rtk handler * updated thermistor struct and science_bridge program with thermistor code * inital commit * Created README and documented thermistor bridge code * Update README.md * Nathan's testing version changes * Fixed indent * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * [Mosfet] Untested Mosfet callback implementation * Update README.md * onboard/science_bridge/src/__main__.py * [Mosfet] Fixed Struct and uart port * spectral code and lcm struct * Update README.md * Added code for the repeater drop * added Spectral sensor code bridge -not fully tested yet. Also fixed missing semicolons in MosfetDmc.lcm * Fixed lcm back into asynclcm after merge * Changed LCM to asyncLCM * Added base code for nav_status rgb * Changed repeater channel and added flashing for nav_status * thermistor and spectral code working and tested with arduino-beaglebone. Still needs testing on nucleo * fixed lcm * got rid of peristaltic pump code * [Mosfet] Added reset to nav status and publish to dropper complete for rr dropper * Fixed LCM inconsistencies * Update README.md * Working thermistor bridge code * [Nav_Status]Removed led reset for nav status * Turned off other leds after changing nav status * working thermistor and spectral bridge code (tested simultaneously * new changes to ammonia * Added Repeater drop tag/handler and receive code * jetson added * updated thermistor struct and science_bridge program with thermistor code * Created README and documented thermistor bridge code * Update README.md * Nathan's testing version changes * Fixed indent * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * [Mosfet] Untested Mosfet callback implementation * onboard/science_bridge/src/__main__.py * Update README.md * spectral code and lcm struct * merge * added Spectral sensor code bridge -not fully tested yet. Also fixed missing semicolons in MosfetDmc.lcm * merge * Update README.md * merge * Changed LCM to asyncLCM * thermistor and spectral code working and tested with arduino-beaglebone. Still needs testing on nucleo * Added base code for nav_status rgb * merge * fixed lcm * merge * new changes to ammonia * merge * merge * Fixed LCM inconsistencies * Update README.md * working thermistor and spectral bridge code (tested simultaneously * [Nav_Status]Removed led reset for nav status * Added Repeater drop tag/handler and receive code * Turned off other leds after changing nav status * rebase * updated thermistor struct and science_bridge program with thermistor code * rebase * Update README.md * Nathan's testing version changes * Fixed indent * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * Verified code works: receives, manages, and publishes (LCM) THERMISTOR data via UART correctly. * [Mosfet] Untested Mosfet callback implementation * onboard/science_bridge/src/__main__.py * Update README.md * spectral code and lcm struct * rebase * Debugged Repeater code * rebase * rebase * Update README.md * rebase * Changed LCM to asyncLCM * thermistor and spectral code working and tested with arduino-beaglebone. Still needs testing on nucleo * Added base code for nav_status rgb * rebase * fixed lcm * rebase * new changes to ammonia * Working thermistor bridge code * rebase * rebase * Update README.md * working thermistor and spectral bridge code (tested simultaneously * rebase * Added Repeater drop tag/handler and receive code * Turned off other leds after changing nav status * Fixed jarvis build errors. Need to work out getting uart output to work * [Mosfet] Added Await in receive for coroutines * Moved Await lower to end of loop * Update README.md * Changed ammonia message creation to fit variable length * Fixed struct name for AmmoniaCmd * Removed print * Added timeout to readline * Update README.md * Update README.md * Update README.md * updated mosfet struct * Started Linting * jetson usb changes * modified spectral code * updated speed * science bridge code (umrover#692) * Update README.md * Update README.md * Fixed double digit Mosfet device bug, changed padding on all sent messages to 20 * Undid Nav Status Changes * Added HBridge error checking to readme * Create README.md * Accidentally deleted Alan's README changes * Update README.md * Fixed linter errors in science_bridge * working and tested bridge code * Update README.md * Update README.md * PR changes Co-authored-by: jjtom <[email protected]> Co-authored-by: Polishdudealan <[email protected]> Co-authored-by: jjtom34 <[email protected]> Co-authored-by: Beaglebone B <[email protected]> * servo bridge updated * Fixed lcm to pinout translation for mosfet * Fixed translation offset * Fixed servo subscribe * Fixed Translation * Update ServoCmd.lcm * Update servo code to match new ServoCmd.lcm and remove radio repeater drop code * Add spectral triad code * Fix Triad Output Flip MSB and LSB when recombining sent data from Spectral triad TODO: investigate order that data is sent, looks flipped from single spectral * short informal read me * Fix padding * Change readme.md * Update README * Update README * Update readme.md * [admin] Resolved cython and scipy build issues (umrover#597) (umrover#597) * forced python-venv creation to use python3.7, resolved cython and scipy build issues * fixes to support more machines, including machines that allow whitespace in file paths * updating deps, the python3.7 cmd is not recongized unless python3.7 is the default version running on the jetson which leads to other ubuntu 18.04 issues * scipy version * [nav] Add Navigation README Documentation (umrover#761) Add README documentation to guide understanding of navigation codebase. * upgarded deps...this won't current pass travis * scipy version corrected * updated websockets to version compatible with python3.7 * changed the venv cmd back to 3.7, travis should be able to handle * fixed dependecy problem to get PR to pass travis, can't use python 3.7 atm unless ubuntu's default version of python is switched to 3.7 however other features are in this PR that should be merged in * Added in Carousel receive and handler * Added carousel lcm messages * Untested changes for spectral stuff * Properly handle triad code * changed microscope camera name to get it working properly on nano * Change int to uint in spectral and triad handlers * Clean up syntax and stop printing empty messages * Update outdated comment for carousel * Delete extra print messages, change naming, and change padding * Fixed Carousel message not capitalized * Camera test * Get rid of extra files * device = * device = DIFF * ansible stuff * revert jetson changes * more changes * Remove backslashes and correct pipeline * Add auto reset * Change for python 3.8 * Remove async * fix * restart stuff * Change to async * Change service settings * Merge fixes * CarouselClosedLoopCmds * Update another carousel lcm * hi * Exception as e * Print e * casing error * Fix Jonah's typo * Bring back python code * add gst init * Add gstreamer ansible services * Change service names * Added carousel openloop and lcms in lcm_echo * Explicitly say user is mrover * Use jetson-util Python bindings Requires `export LD_LIBRARY_PATH to have /home/mrover/jetson-utils/build/aarch64/lib` Requires `make install` in /home/mrover/jetson-utils/build/python` Currently I'm altering `sys.path` until I know how to do that properly with Jarvis * Merge changes and remove outdated python code * Update README, ansible scritps, and array bug * readme bug * readme bug * Add new LCMs for heater control * Rework heater auto shutdown to rely on ESW * Make carousel openloop cmd not start till button press * Initial implementation of streaming 2 cameras only * Reorganize code with new function * Update syntax * Add self * too many blank lines fix * Move functions out of class * Fix variable name * More specific print messages * Change ports back to 0 and 1 for base_station camera program * Change lcm and restructure code to work for two ports only * [teleop] Update GUI camera functionality (#7) * changed Cameras.lcm to 0-7, separated microscope and fixed camera controls bug * changed Cameras lcm * Changed camera indexing and cameras connection box Co-authored-by: ErikLytle <[email protected]> * Added heater/autoshutdown lcm handling * Lint * [teleop] Clean up camera GUI code (umrover#9) * changed Cameras.lcm to 0-7, separated microscope and fixed camera controls bug * changed Cameras lcm * Changed camera indexing and cameras connection box * Clean up cam variables, let use select no camera for both * Remove unnecessary camera options Co-authored-by: ErikLytle <[email protected]> * some changes * fix if statement * bug fix * changes * changes 2 * working camera code! * Readd accidently pushed deleted code * Heater Shutoff code * Take out beaglebone stuff * linter stuff * arr[2] not arr[1] * Tested autoshutdown code fixes * Fix thermistor decimals and Chlorophyll labels (umrover#10) * Update naming * Update carousel display (umrover#11) * make some things more consistent (utf8 to utf-8) * Remove print statements in receive function * Update carousel display (umrover#12) * Filter out repeated openloop msgs * Cosmetic Carousel lcm changes (umrover#13) * [teleop] Changed strip test angles (umrover#14) * changed servo angles * prompt fix * commented out color changes Co-authored-by: ErikLytle <[email protected]> * Change to elif statements * Deleted outdated comment * Add prompt for filename when generating reports (umrover#16) * [teleop] Created color-changing status box for strip test (umrover#15) * changed servo angles * prompt fix * commented out color changes * Added color changing status box Co-authored-by: ErikLytle <[email protected]> Co-authored-by: Carmen Giger <[email protected]> Co-authored-by: Polishdudealan <[email protected]> Co-authored-by: Polishdudealan <[email protected]> Co-authored-by: Beaglebone B <[email protected]> Co-authored-by: jjtom <[email protected]> Co-authored-by: Demo User <[email protected]> Co-authored-by: jjtom34 <[email protected]> Co-authored-by: Beverly <[email protected]> Co-authored-by: Jetson Nano <[email protected]> Co-authored-by: Auton <[email protected]> Co-authored-by: Sashreek Shankar <[email protected]> Co-authored-by: test <test> Co-authored-by: raytitan <[email protected]> Co-authored-by: wilsonchen02 <[email protected]> Co-authored-by: mrover <mrover@nano> Co-authored-by: catkims <[email protected]> Co-authored-by: Quintin <[email protected]> Co-authored-by: catress <[email protected]> Co-authored-by: Erik Lytle <[email protected]> Co-authored-by: ErikLytle <[email protected]> Co-authored-by: Cameron Tressler <[email protected]> Co-authored-by: amszuch <[email protected]>
ERD/ES mission code, merge of ish-integration and ik-integration Co-authored-by: Guthrie Tabios [email protected] Co-authored-by: Cameron Tressler [email protected] Co-authored-by: Alan Tondryk [email protected] Co-authored-by: Jonathan Tom [email protected] Co-authored-by: Sashreek Shankar [email protected] Co-authored-by: Wilson Chen [email protected] Co-authored-by: Joe Nanni [email protected] Co-authored-by: ErikLytle [email protected] Co-authored-by: Catherine Kim [email protected] Co-authored-by: Sam Korman [email protected] Co-authored-by: Bryan Li [email protected] Co-authored-by: Aidan Szuch [email protected]
…1061) * [sim] Added a bach script to easily build and run the 2d simulator * Update README.md Co-authored-by: Carmen <[email protected]>
Co-authored-by: Zachary Goldston <[email protected]> Co-authored-by: Cameron Tressler <[email protected]> Co-authored-by: Ashwin Gupta <[email protected]> Co-authored-by: danieljiang520 <[email protected]> Co-authored-by: Riley Bridges <[email protected]> Co-authored-by: Ankith Udupa <[email protected]> Co-authored-by: Quintin <[email protected]> Co-authored-by: Matt Martin <[email protected]> Co-authored-by: Alan Tondryk <[email protected]> Co-authored-by: Joe Nanni <[email protected]> Co-authored-by: Erik Lytle <[email protected]> Co-authored-by: Brian Li <[email protected]> Co-authored-by: Daniel Stefanescu <[email protected]> Co-authored-by: Ryan Boring <[email protected]> Co-authored-by: Catherine Kim <[email protected]> Co-authored-by: sidneythekidney <[email protected]> Co-authored-by: amszuch <[email protected]>
Co-authored-by: michmli <[email protected]>
deleted microscope services and the old imu package
Co-authored-by: Cameron Tressler <[email protected]> Co-authored-by: bli76 <[email protected]> Co-authored-by: jnnanni <[email protected]> Co-authored-by: tabiosg <[email protected]> Co-authored-by: Ankith Udupa <[email protected]> Co-authored-by: Jason Liu <[email protected]>
Merge of travis free Co-authored-by: Sashreek Shankar <[email protected]> Co-authored-by: Cameron Tressler <[email protected]> Co-authored-by: jnnanni <[email protected]> Co-authored-by: Guthrie Tabios <[email protected]>
Co-authored-by: Carmen <[email protected]>
Co-authored-by: Rocker Base Station <[email protected]>
Co-authored-by: Cameron Tressler <[email protected]> Co-authored-by: Ankith Udupa <[email protected]>
* Start documenting navigation better. removing some commented out code and dead code. added clang format * Document environment, minor commenting * Document search, remove useless comments * Add gate search documentation * Add diagram, minor changes * Add utilities section * Format, make consistent
… + updated sim to the new enable interface (#1152)
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