Diff: Robot_Library/robot.h

Revision:

49:7da71f479dac

Child:

51:884fca7f02de

Child:

54:b442660523df

Child:

56:3fce0a9bb6df

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot_Library/robot.h	Wed May 25 11:36:19 2022 +0200
@@ -0,0 +1,89 @@
+#ifndef ROBOT
+#define ROBOT
+
+#include "I2C.h"
+#include "SensorBar.h"
+#include "controller.h"
+
+
+class Robot {
+
+    public:
+        Robot();
+        void Update();
+
+    private:
+        Controller controller; // a reference to the robots controller
+        
+        enum MovementStates {
+            INITIAL, 
+            IDLE, 
+            FOLLOWING_LINE,
+            RIGHT_TURN_90,
+            LEFT_TURN_90
+        };
+        
+        MovementStates state;
+
+        // Finite state machine functions
+        void Initial();
+        void Idle();
+        void FollowingLine();
+        void LeftTurn();
+        void RightTurn();
+
+        //bool motors_enabled;
+
+
+        /* CONSTANTS */
+
+        const float DISTANCE_THRESHOLD = 0.2f;        // minimum allowed distance to obstacle in [m]
+        const float TRANSLATIONAL_VELOCITY = 0.4f;    // translational velocity in [m/s]
+        const float ROTATIONAL_VELOCITY = 1.6f;       // rotational velocity in [rad/s]
+        const float VELOCITY_THRESHOLD = 0.05;        // velocity threshold before switching off, in [m/s] and [rad/s]
+
+        const float WHEEL_RADIUS = 1.0f;
+        const float DISTANCE_BETWEEN_WHEELS = 1.0f;
+
+        const float MAX_MOTOR_VOLTAGE = 12.0f; // define maximum motor voltage
+        const float COUNTS_PER_TURN = 64.0f * 19.0f;    // define counts per turn at gearbox end: counts/turn * gearratio
+        const float KN = 530.0f / 12.0f;      
+
+        Eigen::Matrix2f wheel_to_robot;// Transoformation matrix
+        Eigen::Matrix2f robot_to_wheel;
+        /* HARDWARE SETUP */
+
+        //--- SENSORS ---//
+        AnalogIn dist; // data in from the IR sensor TODO: UNDERSTAND THIS!
+        DigitalOut bit0;
+        DigitalOut bit1;
+        DigitalOut bit2;
+        IRSensor ir_sensor_0;  // one IR sensor
+
+        I2C i2c2; // not sure what this does
+        SensorBar line_sensor; // Something about using raw value only
+
+
+        /// MOTORS + MOTION //
+
+
+        FastPWM pwm_M1;  // motor M1 is closed-loop speed controlled (angle velocity)
+        FastPWM pwm_M2;  // motor M2 is closed-loop speed controlled (angle velocity)
+        EncoderCounter encoder_M1; // create encoder objects to read in the encoder counter values
+        EncoderCounter encoder_M2;
+
+        Motion* trajectoryPlanners[2]; // two directory planners, 1 for each motor
+        SpeedController* speedControllers[2];
+
+        Eigen::Vector2f robot_speed_desired;    // Robot speed vector [x_dt, alpha_dt] in [m/s] and [rad/s]
+        Eigen::Vector2f wheel_speed_desired;    // Wheel speeds [w_R, w_L] in [rad/s]
+        Eigen::Vector2f wheel_speed_smooth;     // Wheel speeds limited and smoothed
+        Eigen::Vector2f wheel_speed_actual;     // Measured wheel speeds
+        Eigen::Vector2f robot_speed_actual;     // Measured robot speed
+
+
+ // TODO, pas in motors as seperate objects n stuff ? not sure
+
+};
+
+#endif
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