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
05_TrajectoryTracking/kinematics.cpp
- Committer:
- ahmed_lv
- Date:
- 2018-03-20
- Revision:
- 30:44676e1b38f8
- Parent:
- 10:ea4b90be68dc
File content as of revision 30:44676e1b38f8:
#include "kinematics.h" kinematics::kinematics() { wheelDia = wheel_dia; trackWidth = track_width; } void kinematics::VW_RPM(float velocity, float omega, float* left_rpm, float* right_rpm) { *right_rpm = (velocity + (omega * trackWidth / 2)) * (60.0 / (M_PI * wheelDia)); *left_rpm = (velocity - (omega * trackWidth / 2)) * (60.0 / (M_PI * wheelDia)); /* if(*right_rpm > 100) *right_rpm = generalFunctions::constrain_f(*right_rpm, min_rpm, max_rpm); else *right_rpm = 0; if(*left_rpm > 100) *left_rpm = generalFunctions::constrain_f(*left_rpm, min_rpm, max_rpm); else *left_rpm = 0; */ }