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Dependencies: mbed
Controller Class Reference
This class implements a controller that regulates the speed of the two motors of the ROME2 mobile robot. More...
#include <Controller.h>
Public Member Functions | |
| Controller (PwmOut &pwmLeft, PwmOut &pwmRight, EncoderCounter &counterLeft, EncoderCounter &counterRight) | |
| Creates and initialises the robot controller. | |
| virtual | ~Controller () |
| Deletes this Controller object. | |
| void | setTranslationalVelocity (float velocity) |
| Sets the desired translational velocity of the robot. | |
| void | setRotationalVelocity (float velocity) |
| Sets the desired rotational velocity of the robot. | |
| float | getActualTranslationalVelocity () |
| Gets the actual translational velocity of the robot. | |
| float | getActualRotationalVelocity () |
| Gets the actual rotational velocity of the robot. | |
| void | setDesiredSpeedLeft (float desiredSpeedLeft) |
| Sets the desired speed of the left motor. | |
| void | setDesiredSpeedRight (float desiredSpeedRight) |
| Sets the desired speed of the right motor. | |
| float | getActualSpeedLeft () |
| Gets the actual speed of the left motor. | |
| float | getActualSpeedRight () |
| Gets the actual speed of the right motor. | |
| void | setX (float x) |
| Sets the actual x coordinate of the robots position. | |
| float | getX () |
| Gets the actual x coordinate of the robots position. | |
| void | setY (float y) |
| Sets the actual y coordinate of the robots position. | |
| float | getY () |
| Gets the actual y coordinate of the robots position. | |
| void | setAlpha (float alpha) |
| Sets the actual orientation of the robot. | |
| float | getAlpha () |
| Gets the actual orientation of the robot. | |
Detailed Description
This class implements a controller that regulates the speed of the two motors of the ROME2 mobile robot.
Definition at line 20 of file Controller.h.
Constructor & Destructor Documentation
| Controller | ( | PwmOut & | pwmLeft, |
| PwmOut & | pwmRight, | ||
| EncoderCounter & | counterLeft, | ||
| EncoderCounter & | counterRight | ||
| ) |
Creates and initialises the robot controller.
- Parameters:
-
pwmLeft a reference to the pwm output for the left motor. pwmRight a reference to the pwm output for the right motor. counterLeft a reference to the encoder counter of the left motor. counterRight a reference to the encoder counter of the right motor.
Definition at line 30 of file Controller.cpp.
| ~Controller | ( | ) | [virtual] |
Deletes this Controller object.
Definition at line 82 of file Controller.cpp.
Member Function Documentation
| float getActualRotationalVelocity | ( | ) |
Gets the actual rotational velocity of the robot.
- Returns:
- the actual rotational velocity, given in [rad/s].
Definition at line 118 of file Controller.cpp.
| float getActualSpeedLeft | ( | ) |
Gets the actual speed of the left motor.
- Returns:
- the actual speed given in [rpm].
Definition at line 145 of file Controller.cpp.
| float getActualSpeedRight | ( | ) |
Gets the actual speed of the right motor.
- Returns:
- the actual speed given in [rpm].
Definition at line 154 of file Controller.cpp.
| float getActualTranslationalVelocity | ( | ) |
Gets the actual translational velocity of the robot.
- Returns:
- the actual translational velocity, given in [m/s].
Definition at line 109 of file Controller.cpp.
| float getAlpha | ( | ) |
Gets the actual orientation of the robot.
- Returns:
- the orientation, given in [rad].
Definition at line 208 of file Controller.cpp.
| float getX | ( | ) |
Gets the actual x coordinate of the robots position.
- Returns:
- the x coordinate of the position, given in [m].
Definition at line 172 of file Controller.cpp.
| float getY | ( | ) |
Gets the actual y coordinate of the robots position.
- Returns:
- the y coordinate of the position, given in [m].
Definition at line 190 of file Controller.cpp.
| void setAlpha | ( | float | alpha ) |
Sets the actual orientation of the robot.
- Parameters:
-
alpha the orientation, given in [rad].
Definition at line 199 of file Controller.cpp.
| void setDesiredSpeedLeft | ( | float | desiredSpeedLeft ) |
Sets the desired speed of the left motor.
- Parameters:
-
desiredSpeedLeft desired speed given in [rpm].
Definition at line 127 of file Controller.cpp.
| void setDesiredSpeedRight | ( | float | desiredSpeedRight ) |
Sets the desired speed of the right motor.
- Parameters:
-
desiredSpeedRight desired speed given in [rpm].
Definition at line 136 of file Controller.cpp.
| void setRotationalVelocity | ( | float | velocity ) |
Sets the desired rotational velocity of the robot.
- Parameters:
-
velocity the desired rotational velocity, given in [rad/s].
Definition at line 100 of file Controller.cpp.
| void setTranslationalVelocity | ( | float | velocity ) |
Sets the desired translational velocity of the robot.
- Parameters:
-
velocity the desired translational velocity, given in [m/s].
Definition at line 91 of file Controller.cpp.
| void setX | ( | float | x ) |
Sets the actual x coordinate of the robots position.
- Parameters:
-
x the x coordinate of the position, given in [m].
Definition at line 163 of file Controller.cpp.
| void setY | ( | float | y ) |
Sets the actual y coordinate of the robots position.
- Parameters:
-
y the y coordinate of the position, given in [m].
Definition at line 181 of file Controller.cpp.
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