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@2:761e3c932ce0, 2016-01-18 (annotated)

Committer:
akashvibhute
Date:
Mon Jan 18 06:00:43 2016 +0000
Revision:
2:761e3c932ce0
guess this is the initial commit :P

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 2:761e3c932ce0 1 #ifndef purePursuit_H
akashvibhute 2:761e3c932ce0 2 #define purePursuit_H
akashvibhute 2:761e3c932ce0 3
akashvibhute 2:761e3c932ce0 4 #include "mbed.h"
akashvibhute 2:761e3c932ce0 5 #include "generalFunctions.h"
akashvibhute 2:761e3c932ce0 6 #include "config.h"
akashvibhute 2:761e3c932ce0 7
akashvibhute 2:761e3c932ce0 8 class purePursuit
akashvibhute 2:761e3c932ce0 9 {
akashvibhute 2:761e3c932ce0 10 public:
akashvibhute 2:761e3c932ce0 11
akashvibhute 2:761e3c932ce0 12 purePursuit();
akashvibhute 2:761e3c932ce0 13
akashvibhute 2:761e3c932ce0 14 void GenVW(float* purePursuit_velocity, float* purePursuit_omega,
akashvibhute 2:761e3c932ce0 15 float target_waypoint[2], float target_velocity,
akashvibhute 2:761e3c932ce0 16 float current_position[2], float current_heading);
akashvibhute 2:761e3c932ce0 17
akashvibhute 2:761e3c932ce0 18 private:
akashvibhute 2:761e3c932ce0 19 static float const ld_min = 60.0; //min purepursuit lookahead distance
akashvibhute 2:761e3c932ce0 20 static float const ld_max = 600.0; //max purepursuit lookahead distance
akashvibhute 2:761e3c932ce0 21 static float const trackingLimit = 60.0; //purepursuit will track only until the target distance is greater than this limit
akashvibhute 2:761e3c932ce0 22
akashvibhute 2:761e3c932ce0 23 static float const drive_minV = driveTrain_minV;
akashvibhute 2:761e3c932ce0 24 static float const drive_maxV = driveTrain_maxV;
akashvibhute 2:761e3c932ce0 25
akashvibhute 2:761e3c932ce0 26 static float const purePursuit_omega_limit = DEG_TO_RAD(120);
akashvibhute 2:761e3c932ce0 27
akashvibhute 2:761e3c932ce0 28 float robotFrame_targetPos[2];
akashvibhute 2:761e3c932ce0 29 float robotFrame_targetDistance;
akashvibhute 2:761e3c932ce0 30 float purePursuit_ld;
akashvibhute 2:761e3c932ce0 31 float purePursuit_r;
akashvibhute 2:761e3c932ce0 32 float purePursuit_headingE;
akashvibhute 2:761e3c932ce0 33 };
akashvibhute 2:761e3c932ce0 34
akashvibhute 2:761e3c932ce0 35
akashvibhute 2:761e3c932ce0 36 #endif