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/purePursuit.h@30:44676e1b38f8, 2018-03-20 (annotated)

Committer:
ahmed_lv
Date:
Tue Mar 20 05:56:22 2018 +0000
Revision:
30:44676e1b38f8
Parent:
19:7345688260b2 
Editted Input Variables to PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 11:49344285c82a 1 #ifndef purePursuit_H
akashvibhute 11:49344285c82a 2 #define purePursuit_H
akashvibhute 11:49344285c82a 3
akashvibhute 11:49344285c82a 4 #include "mbed.h"
akashvibhute 11:49344285c82a 5 #include "generalFunctions.h"
akashvibhute 11:49344285c82a 6 #include "config.h"
akashvibhute 11:49344285c82a 7
akashvibhute 11:49344285c82a 8 class purePursuit
akashvibhute 11:49344285c82a 9 {
akashvibhute 11:49344285c82a 10 public:
akashvibhute 11:49344285c82a 11
akashvibhute 11:49344285c82a 12 purePursuit();
akashvibhute 19:7345688260b2 13
akashvibhute 19:7345688260b2 14 /// generate velocity (mm/s) and omega (rad/s) for diff drive to track
akashvibhute 11:49344285c82a 15 void GenVW(float* purePursuit_velocity, float* purePursuit_omega,
akashvibhute 19:7345688260b2 16 float target_waypoint[2], float target_velocity,
akashvibhute 11:49344285c82a 17 float current_position[2], float current_heading);
akashvibhute 19:7345688260b2 18
akashvibhute 19:7345688260b2 19 /// generate velocity (mm/s), gamma (rad) and omega (rad/s) for non-linear controller to track
akashvibhute 19:7345688260b2 20 void GenVGW(float* purePursuit_velocity, float* purePursuit_gamma, float* purePursuit_omega,
akashvibhute 19:7345688260b2 21 float target_waypoint[2], float target_velocity,
akashvibhute 19:7345688260b2 22 float current_position[2], float current_heading);
akashvibhute 19:7345688260b2 23
akashvibhute 19:7345688260b2 24 float robotFrame_targetDistance;
akashvibhute 11:49344285c82a 25 float purePursuit_headingE;
akashvibhute 11:49344285c82a 26 float purePursuit_ld;
akashvibhute 19:7345688260b2 27 float purePursuit_r;
akashvibhute 11:49344285c82a 28
akashvibhute 11:49344285c82a 29 private:
akashvibhute 19:7345688260b2 30 static float const ld_min = 200.0; //min purepursuit lookahead distance
akashvibhute 19:7345688260b2 31 static float const ld_max = 2000.0; //max purepursuit lookahead distance
akashvibhute 19:7345688260b2 32 static float const trackingLimit = 50.0; //purepursuit will track only until the target distance is greater than this limit
akashvibhute 19:7345688260b2 33
akashvibhute 11:49344285c82a 34 static float const drive_minV = driveTrain_minV;
akashvibhute 11:49344285c82a 35 static float const drive_maxV = driveTrain_maxV;
akashvibhute 19:7345688260b2 36
akashvibhute 11:49344285c82a 37 static float const purePursuit_omega_limit = DEG_TO_RAD(90);
akashvibhute 19:7345688260b2 38
akashvibhute 11:49344285c82a 39 float robotFrame_targetPos[2];
akashvibhute 19:7345688260b2 40
akashvibhute 11:49344285c82a 41 };
akashvibhute 11:49344285c82a 42
akashvibhute 11:49344285c82a 43
akashvibhute 11:49344285c82a 44 #endif