Team Virgo v3
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.h@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?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| akashvibhute | 10:ea4b90be68dc | 1 | #ifndef kinematics_H |
| akashvibhute | 10:ea4b90be68dc | 2 | #define kinematics_H |
| akashvibhute | 10:ea4b90be68dc | 3 | |
| akashvibhute | 10:ea4b90be68dc | 4 | #include "mbed.h" |
| akashvibhute | 10:ea4b90be68dc | 5 | #include "generalFunctions.h" |
| akashvibhute | 10:ea4b90be68dc | 6 | #include "config.h" |
| akashvibhute | 10:ea4b90be68dc | 7 | |
| akashvibhute | 10:ea4b90be68dc | 8 | class kinematics |
| akashvibhute | 10:ea4b90be68dc | 9 | { |
| akashvibhute | 10:ea4b90be68dc | 10 | public: |
| akashvibhute | 10:ea4b90be68dc | 11 | |
| akashvibhute | 10:ea4b90be68dc | 12 | kinematics(); |
| akashvibhute | 10:ea4b90be68dc | 13 | void VW_RPM(float velocity, float omega, float* left_rpm, float* right_rpm); |
| akashvibhute | 10:ea4b90be68dc | 14 | |
| akashvibhute | 10:ea4b90be68dc | 15 | private: |
| akashvibhute | 10:ea4b90be68dc | 16 | float wheelDia, trackWidth; |
| akashvibhute | 10:ea4b90be68dc | 17 | |
| akashvibhute | 10:ea4b90be68dc | 18 | static float const min_rpm = 500; |
| akashvibhute | 10:ea4b90be68dc | 19 | static float const max_rpm = 850; |
| akashvibhute | 10:ea4b90be68dc | 20 | }; |
| akashvibhute | 10:ea4b90be68dc | 21 | |
| akashvibhute | 10:ea4b90be68dc | 22 | |
| akashvibhute | 10:ea4b90be68dc | 23 | #endif |