File content as of revision 30:44676e1b38f8:

/**
 *  @file attitudeControl.h
 *  @brief This file implements attitudeController function
 */

#ifndef attitudeControl_H
#define attitudeControl_H

#include "mbed.h"
#include "generalFunctions.h"

class attitudeControl
{
public:

    /**
    *  @brief This function implements a sliding-mode controller to correct the pitch angle of the robot and maintiain a stable attitude during motion
    *
    *  @param [out] w_L        output angular vecolity for left drive wheel
    *  @param [out] w_R        output angular vecolity for right drive wheel
    *  @param [in] flag        Specify the control mode: flag = 1 trajectory tracking control; flag = 0 speed and yaw control
    *  @param [in] tc          Servo time in seconds
    *  @param [in] beta        pitch angle
    *  @param [in] dbeta       pitch angle change rate
    *  @param [in] gamma       cart heading angle
    *  @param [in] dgamma      cart heading angle change rate
    *  @param [in] theta_L     left wheel angle
    *  @param [in] theta_R     right wheel angle
    *  @param [in] dtheta_L    left wheel velocity
    *  @param [in] dtheta_R    right wheel velocity
    *  @param [in] ref_ddbeta  Parameter_Description
    *  @param [in] ref_dbeta   Parameter_Description
    *  @param [in] ref_beta    Parameter_Description
    *  @param [in] ref_ddtheta Parameter_Description
    *  @param [in] ref_dtheta  Parameter_Description
    *  @param [in] ref_theta   Parameter_Description
    *  @param [in] ref_ddgamma Parameter_Description
    *  @param [in] ref_dgamma  Parameter_Description
    *  @param [in] ref_gamma   Parameter_Description
    *  @return                 No value returned
    *
    *  @details Units: distance in mm, time in second, mass in gram, angle in radian
    */

    // Reference
    // ref_ddbeta, ref_dbeta, ref_beta,
    // ref_ddtheta, ref_dtheta, ref_dtheta,
    // ref_ddtheta, ref_dtheta, ref_theta
    
    attitudeControl();
    
    void GenWheelVelocities(float* w_L, float* w_R, int flag, float tc,
                float beta, float dbeta, float gamma, float dgamma,
                float theta_L, float theta_R, float dtheta_L, float dtheta_R,
                float ref_ddbeta, float ref_dbeta, float ref_beta,
                float ref_ddtheta, float ref_dtheta, float ref_theta,
                float ref_ddgamma,  float ref_dgamma, float ref_gamma,
                float* u1, float* u2);

private:
    // System parameters
    // Sphere
    float ms, rs, rs_inner, Is;
    
    // Cart
    float mc, rc, ri;
    float Ic_x, Ic_z;

    // Drive wheel
    float mw, rw, Iw, h;

    // Gravity
    float gravity;

    // Theta and Beta Control
    // Control parameters
    float kx_beta[2];
    float kx_theta[2];
    float ks_beta[2];
    float ks_theta[2];
    float kt_beta[2]; 
    float kt_theta[2];

    // Gamma Control
    // Control gains
    float k1;
    float k2;
};


#endif