Diff: Robots/Rover/Rover_omni_h.txt

Revision:

6:584653235830

Parent:

5:362759e42070

Child:

7:dacdbb95aa12

--- a/Robots/Rover/Rover_omni_h.txt	Wed Jan 08 11:12:51 2020 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,172 +0,0 @@
-#ifndef ROVER_H
-#define ROVER_H
-#include "mbed.h"
-#include "IONMcMotors.h"
-#include "Servo.h"
-#include "Core.h"
-#include "MPU6050.h"
-#include "platform/PlatformMutex.h"
-
-#include "TOFs.h"
-
-#include "Eth_tcp.h"
-
-
-class Rover
-{
-public:
-    Rover();    
-    
-    void setWheelsVelocity(float forward_speed, float stabilization_speed, float asset_correction_speed, float pipe_radius, float maxWheelAcceleration);
-    void getRoverVelocity(float &forward_speed, float &stabilization_speed, float &asset_correction_speed, float pipe_radius);
-    void getMotorsTorque(float &torM1, float &torM2, float &torM3);
-    void getMotorsSpeed(float &speedM1, float &speedM2, float &speedM3);
-    
-    void getRoverWheelsVelocity(float &speed_wheel_dx, float &speed_wheel_sx, float &speed_wheels_retro);
-
-
-    void setCentralJointsAngle(float act1, float act2);
-    void calcImuAngles(float& pitch, float& roll, float dtImu);
-    
-    int get_forward_vel();
-    int get_pitch();
-    int get_jointFront();
-    int get_jointRetro();
-    
-    void ethComunicationUpdate(float _time, float _pitch, float _vels_a, float _vels_m, float _velf_a, float _velf_m) ;
-    
-    int getEthState(void);
-
-    
-    void startEthComunication();
-    
-    void initializeImu();
-    
-    void initializeTofs();
-    void acquireTofs(float &frontDistance, float &retroDistance);
-    
-    void computeCentralJointsFromTofs();
-
-
-
-private:
-
-    IONMcMotors *ionMcMeccanum;
-    IONMcMotors *ionMcOmni;
-    
-    Servo *meccanumActuonix;
-    Servo *omniActuonix;
-    
-    MPU6050 *mpu;
-    
-    Eth_tcp *eth_tcp;
-    
-    Thread EthThread;   
-    
-    distanceSensors *distance_sensors;
-
-    int ionMcBoudRate;
-    
-    int meccanumMotorGearBoxRatio;
-    int omniMotorGearBoxRatio;
-    
-    int meccanumBoardAddress;
-    int omniBoardAddress;
-    
-    float meccanumTransmissionRatio;
-    float omniTransmissionRatio;
-    
-    int meccanumEncoderPulse;
-    int omniEncoderPulse;
-    
-    float meccanumKt;
-    float omniKt;
-    
-    float r_meccanumWheel;
-    float r_omniWheel;
-
-    float wheelsCntactPointDistanceFromPipeCenter;
-    float omniMeccanumCentralDistance;
-    
-    //Imu variables
-    int16_t ax, ay, az;
-    int16_t gx, gy, gz;
-    
-    float a_x,a_y,a_z;
-    float g_x, g_y, g_z;
-    
-    int16_t FS_a;   
-    float FS_g;    
-    
-    PlatformMutex eth_mutex;
-    
-    
-    float accBias[3];
-    float gyroBias[3];   
-    
-    
-
-    float pitchAcc;
-    float rollAcc;
-    float pitchAcc_p;
-    float rollAcc_p;
-    float pitch_integrated;
-    float roll_integrated;
-    
-        
-    int forward_vel;
-    int pitch_d;
-    
-    int jointFront;
-    int jointRetro;
-    int enableStab;
-    int enableCurv;    
-    
-    float time;
-    float pitch;
-    float vels_a;
-    float vels_m;
-    
-    float pipeCurve_I;
-    float pipeCurve_E;
-    float pipeCurve_M;    
-    int pipeDir;
-    
-    double eth_time_out; //ms
-    
-    int eth_state;
-    double eth_time;    
-    double eth_time_sample_received;
-    
-    Eigen::Matrix3f S;    
-    Eigen::Matrix3f S_inv;    
-    //private functions
-    float deg2rad(float deg);
-    float centralJoint2actuonix(float jointAngle);
-    void calibrateImu();
-    void updateRoverKin(float pipe_radius, int pipeDir);
-    
-    void setState(int state);
-    
-    
-    Timer comunicationTimer;  
-    
-    char cmd;
-    MyBuffer <int> vec_to_send;
-    MyBuffer <int> recv_vec;
-    double t_p;
-    double t;
-    int n_of_int;
-    bool eth_status;
-    
-    bool sock_open;
-    
-
-    
-    float frontPos;
-    float retroPos;
-
-    
-};
-
-#endif
\ No newline at end of file