Zürcher Eliteeinheit
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ROME2_P4
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Zürcher Eliteeinheit
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Data Structures
Here are the data structures with brief descriptions:
| Controller | This class implements the coordinate transformation, speed control and the position estimation of a mobile robot with differential drive |
| EncoderCounter | This class implements a driver to read the quadrature encoder counter of the STM32 microcontroller |
| IMU | This is a device driver class for the ST LSM9DS0 inertial measurement unit |
| IRSensor | This is a device driver class to read the distance measured with a Sharp IR sensor |
| LowpassFilter | This class implements a time-discrete 2nd order lowpass filter for a series of data values |
| Motion | This class keeps the motion values position and velocity, and offers methods to increment these values towards a desired target position or velocity |
| SerialServer | This class implements a communication server using a serial interface |
| StateMachine | This class implements a simple state machine for a mobile robot |
| Task | This is an abstract task class with a method that is called periodically by a task sequencer |
| TaskMove | This is a specific implementation of a task class that moves the robot with given velocities |
| TaskMoveTo | This is a specific implementation of a task class that moves the robot to a given pose |
| TaskWait | This is a specific implementation of a task class that waits for a given duration |
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