ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Odometry/Odometry.h@2:abdf8c6823a1, 2015-11-24 (annotated)

Committer:
sype
Date:
Tue Nov 24 15:02:01 2015 +0000
Revision:
2:abdf8c6823a1
Parent:
0:ad9600df4a70
Child:
3:62e9d715de65
gotothet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 0:ad9600df4a70 1 #ifndef ODOMETRY_H
sype 0:ad9600df4a70 2 #define ODOMETRY_H
sype 0:ad9600df4a70 3
sype 0:ad9600df4a70 4 #include "mbed.h"
sype 0:ad9600df4a70 5 #include "RoboClaw.h"
sype 0:ad9600df4a70 6
sype 0:ad9600df4a70 7 #define PI 3.1415926535897932384626433832795
sype 2:abdf8c6823a1 8 #define C 1.1538461538461538461538461538462
sype 0:ad9600df4a70 9
sype 0:ad9600df4a70 10 /*
sype 0:ad9600df4a70 11 * Author : Benjamin Bertelone, reworked by Simon Emarre
sype 0:ad9600df4a70 12 */
sype 0:ad9600df4a70 13
sype 2:abdf8c6823a1 14 extern Serial pc;
sype 2:abdf8c6823a1 15
sype 0:ad9600df4a70 16 class Odometry
sype 0:ad9600df4a70 17 {
sype 0:ad9600df4a70 18 public:
sype 2:abdf8c6823a1 19 Odometry(double diameter_right, double diameter_left, double v, RoboClaw &rc);
sype 0:ad9600df4a70 20
sype 0:ad9600df4a70 21 void setPos(double x, double y, double theta);
sype 0:ad9600df4a70 22 void setX(double x);
sype 0:ad9600df4a70 23 void setY(double y);
sype 0:ad9600df4a70 24 void setTheta(double theta);
sype 0:ad9600df4a70 25
sype 2:abdf8c6823a1 26 void GotoXYT(double x_goal, double y_goal, double theta_goal);
sype 2:abdf8c6823a1 27 void GotoThet(double theta_);
sype 2:abdf8c6823a1 28 void GotoB(double distance);
sype 0:ad9600df4a70 29
sype 0:ad9600df4a70 30 double getX() {return x;}
sype 0:ad9600df4a70 31 double getY() {return y;}
sype 0:ad9600df4a70 32 double getTheta() {return theta;} // ]-PI;PI]
sype 2:abdf8c6823a1 33 double getTheta_(double x, double y);
sype 2:abdf8c6823a1 34
sype 2:abdf8c6823a1 35 double abs_d(double x){
sype 2:abdf8c6823a1 36 if(x<0) return -x;
sype 2:abdf8c6823a1 37 else return x;
sype 2:abdf8c6823a1 38 }
sype 0:ad9600df4a70 39
sype 0:ad9600df4a70 40 double getVitLeft() {return m_vitLeft;}
sype 0:ad9600df4a70 41 double getVitRight() {return m_vitRight;}
sype 0:ad9600df4a70 42
sype 0:ad9600df4a70 43 double getDistLeft() {return m_distLeft;}
sype 0:ad9600df4a70 44 double getDistRight() {return m_distRight;}
sype 0:ad9600df4a70 45
sype 0:ad9600df4a70 46 void setDistLeft(double dist) {m_distLeft = dist;}
sype 0:ad9600df4a70 47 void setDistRight(double dist) {m_distRight = dist;}
sype 0:ad9600df4a70 48
sype 0:ad9600df4a70 49 void update_odo(void);
sype 0:ad9600df4a70 50 double calcul_distance(double x, double y, double theta_goal);
sype 0:ad9600df4a70 51
sype 0:ad9600df4a70 52 long getPulsesLeft(void) {return m_pulses_left;}
sype 0:ad9600df4a70 53 long getPulsesRight(void) {return m_pulses_right;}
sype 2:abdf8c6823a1 54 double carre(double a) {return a*a;}
sype 2:abdf8c6823a1 55
sype 2:abdf8c6823a1 56 bool isArrivedRot(double theta_);
sype 0:ad9600df4a70 57
sype 0:ad9600df4a70 58 private:
sype 2:abdf8c6823a1 59 RoboClaw &roboclaw;
sype 0:ad9600df4a70 60 long m_pulses_left;
sype 0:ad9600df4a70 61 long m_pulses_right;
sype 0:ad9600df4a70 62
sype 0:ad9600df4a70 63 double x, y, theta;
sype 0:ad9600df4a70 64 double m_vitLeft, m_vitRight;
sype 0:ad9600df4a70 65 double m_distLeft, m_distRight;
sype 0:ad9600df4a70 66
sype 0:ad9600df4a70 67 double m_distPerTick_left, m_distPerTick_right, m_v;
sype 2:abdf8c6823a1 68
sype 2:abdf8c6823a1 69 double erreur_ang;
sype 0:ad9600df4a70 70 };
sype 0:ad9600df4a70 71
sype 0:ad9600df4a70 72 #endif