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Dependencies: mbed
Controller Class Reference
This class implements the coordinate transformation, speed control and the position estimation of a mobile robot with differential drive. More...
#include <Controller.h>
Public Member Functions | |
| Controller (PwmOut &pwmLeft, PwmOut &pwmRight, EncoderCounter &counterLeft, EncoderCounter &counterRight) | |
| Creates and initializes a Controller object. | |
| virtual | ~Controller () |
| Deletes the Controller object and releases all allocated resources. | |
| 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 | 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 the coordinate transformation, speed control and the position estimation of a mobile robot with differential drive.
Definition at line 20 of file Controller.h.
Constructor & Destructor Documentation
| Controller | ( | PwmOut & | pwmLeft, |
| PwmOut & | pwmRight, | ||
| EncoderCounter & | counterLeft, | ||
| EncoderCounter & | counterRight | ||
| ) |
Creates and initializes a Controller object.
- Parameters:
-
pwmLeft a pwm output object to set the duty cycle for the left motor. pwmRight a pwm output object to set the duty cycle for the right motor. counterLeft an encoder counter object to read the position of the left motor. counterRight an encoder counter object to read the position of the right motor.
Definition at line 31 of file Controller.cpp.
| ~Controller | ( | ) | [virtual] |
Deletes the Controller object and releases all allocated resources.
Definition at line 83 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 119 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 110 of file Controller.cpp.
| float getAlpha | ( | ) |
Gets the actual orientation of the robot.
- Returns:
- the orientation, given in [rad].
Definition at line 173 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 137 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 155 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 164 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 101 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 92 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 128 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 146 of file Controller.cpp.
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