Diff: Controller.h

Revision:

0:351a2fb21235

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h	Fri May 18 12:05:32 2018 +0000
@@ -0,0 +1,85 @@
+/*
+ * Controller.h
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef CONTROLLER_H_
+#define CONTROLLER_H_
+
+#include <cstdlib>
+#include <mbed.h>
+#include "EncoderCounter.h"
+#include "Motion.h"
+#include "LowpassFilter.h"
+
+/**
+ * This class implements the coordinate transformation, speed control and
+ * the position estimation of a mobile robot with differential drive.
+ */
+class Controller {
+
+    public:
+    
+                    Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
+        virtual     ~Controller();
+        void        setTranslationalVelocity(float velocity);
+        void        setRotationalVelocity(float velocity);
+        float       getActualTranslationalVelocity();
+        float       getActualRotationalVelocity();
+        void        setX(float x);
+        float       getX();
+        void        setY(float y);
+        float       getY();
+        void        setAlpha(float alpha);
+        float       getAlpha();
+        void        correctPoseWithBeacon(float xActual, float yActual, float xMeasured, float yMeasured);
+        
+    private:
+        
+        static const float  PERIOD;
+        static const float  PI;
+        static const float  WHEEL_DISTANCE;
+        static const float  WHEEL_RADIUS;
+        static const float  COUNTS_PER_TURN;
+        static const float  LOWPASS_FILTER_FREQUENCY;
+        static const float  KN;
+        static const float  KP;
+        static const float  MAX_VOLTAGE;
+        static const float  MIN_DUTY_CYCLE;
+        static const float  MAX_DUTY_CYCLE;
+        static const float  SIGMA_TRANSLATION;
+        static const float  SIGMA_ORIENTATION;
+        static const float  SIGMA_DISTANCE;
+        static const float  SIGMA_GAMMA;
+        
+        PwmOut&             pwmLeft;
+        PwmOut&             pwmRight;
+        EncoderCounter&     counterLeft;
+        EncoderCounter&     counterRight;
+        Motion              translationalMotion;
+        Motion              rotationalMotion;
+        float               translationalVelocity;
+        float               rotationalVelocity;
+        float               actualTranslationalVelocity;
+        float               actualRotationalVelocity;
+        short               previousValueCounterLeft;
+        short               previousValueCounterRight;
+        LowpassFilter       speedLeftFilter;
+        LowpassFilter       speedRightFilter;
+        float               desiredSpeedLeft;
+        float               desiredSpeedRight;
+        float               actualSpeedLeft;
+        float               actualSpeedRight;
+        float               x;
+        float               y;
+        float               alpha;
+        float               p[3][3];
+        Ticker              ticker;
+        
+        void                run();
+};
+
+#endif /* CONTROLLER_H_ */
+
+