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@11:49344285c82a, 2016-04-24 (annotated)

Committer:
akashvibhute
Date:
Sun Apr 24 23:54:50 2016 +0000
Revision:
11:49344285c82a
Child:
19:7345688260b2
Purepursuit + pid pitch control works nicely; this is the demo setup for the french contigent - 25/Apr/2016

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 11:49344285c82a 13
akashvibhute 11:49344285c82a 14 void GenVW(float* purePursuit_velocity, float* purePursuit_omega,
akashvibhute 11:49344285c82a 15 float target_waypoint[2], float target_velocity,
akashvibhute 11:49344285c82a 16 float current_position[2], float current_heading);
akashvibhute 11:49344285c82a 17
akashvibhute 11:49344285c82a 18 float robotFrame_targetDistance;
akashvibhute 11:49344285c82a 19 float purePursuit_headingE;
akashvibhute 11:49344285c82a 20 float purePursuit_ld;
akashvibhute 11:49344285c82a 21 float purePursuit_r;
akashvibhute 11:49344285c82a 22
akashvibhute 11:49344285c82a 23 private:
akashvibhute 11:49344285c82a 24 static float const ld_min = 100.0; //min purepursuit lookahead distance
akashvibhute 11:49344285c82a 25 static float const ld_max = 1000.0; //max purepursuit lookahead distance
akashvibhute 11:49344285c82a 26 static float const trackingLimit = 150.0; //purepursuit will track only until the target distance is greater than this limit
akashvibhute 11:49344285c82a 27
akashvibhute 11:49344285c82a 28 static float const drive_minV = driveTrain_minV;
akashvibhute 11:49344285c82a 29 static float const drive_maxV = driveTrain_maxV;
akashvibhute 11:49344285c82a 30
akashvibhute 11:49344285c82a 31 static float const purePursuit_omega_limit = DEG_TO_RAD(90);
akashvibhute 11:49344285c82a 32
akashvibhute 11:49344285c82a 33 float robotFrame_targetPos[2];
akashvibhute 11:49344285c82a 34
akashvibhute 11:49344285c82a 35 };
akashvibhute 11:49344285c82a 36
akashvibhute 11:49344285c82a 37
akashvibhute 11:49344285c82a 38 #endif