Team Virgo v3 / Orion_newPCB_test_LV

Implement new controller

Dependencies:   mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo

Fork of Orion_newPCB_test by Team Virgo v3

05_TrajectoryTracking/kinematics.cpp@30:44676e1b38f8, 2018-03-20 (annotated)

Committer:
ahmed_lv
Date:
Tue Mar 20 05:56:22 2018 +0000
Revision:
30:44676e1b38f8
Parent:
10:ea4b90be68dc 
Editted Input Variables to PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 10:ea4b90be68dc 1 #include "kinematics.h"
akashvibhute 10:ea4b90be68dc 2
akashvibhute 10:ea4b90be68dc 3 kinematics::kinematics()
akashvibhute 10:ea4b90be68dc 4 {
akashvibhute 10:ea4b90be68dc 5 wheelDia = wheel_dia;
akashvibhute 10:ea4b90be68dc 6 trackWidth = track_width;
akashvibhute 10:ea4b90be68dc 7
akashvibhute 10:ea4b90be68dc 8 }
akashvibhute 10:ea4b90be68dc 9
akashvibhute 10:ea4b90be68dc 10 void kinematics::VW_RPM(float velocity, float omega, float* left_rpm, float* right_rpm)
akashvibhute 10:ea4b90be68dc 11 {
akashvibhute 10:ea4b90be68dc 12 *right_rpm = (velocity + (omega * trackWidth / 2)) * (60.0 / (M_PI * wheelDia));
akashvibhute 10:ea4b90be68dc 13 *left_rpm = (velocity - (omega * trackWidth / 2)) * (60.0 / (M_PI * wheelDia));
akashvibhute 10:ea4b90be68dc 14
akashvibhute 10:ea4b90be68dc 15 /*
akashvibhute 10:ea4b90be68dc 16 if(*right_rpm > 100)
akashvibhute 10:ea4b90be68dc 17 *right_rpm = generalFunctions::constrain_f(*right_rpm, min_rpm, max_rpm);
akashvibhute 10:ea4b90be68dc 18 else
akashvibhute 10:ea4b90be68dc 19 *right_rpm = 0;
akashvibhute 10:ea4b90be68dc 20
akashvibhute 10:ea4b90be68dc 21 if(*left_rpm > 100)
akashvibhute 10:ea4b90be68dc 22 *left_rpm = generalFunctions::constrain_f(*left_rpm, min_rpm, max_rpm);
akashvibhute 10:ea4b90be68dc 23 else
akashvibhute 10:ea4b90be68dc 24 *left_rpm = 0;
akashvibhute 10:ea4b90be68dc 25 */
akashvibhute 10:ea4b90be68dc 26 }