rome2_p6 imported
Dependencies: mbed
Controller.h@5:957580f33e52, 2018-05-18 (annotated)
- Committer:
- Appalco
- Date:
- Fri May 18 13:54:25 2018 +0000
- Revision:
- 5:957580f33e52
- Parent:
- 0:351a2fb21235
fixed tolerance and wayponts
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Appalco | 0:351a2fb21235 | 1 | /* |
Appalco | 0:351a2fb21235 | 2 | * Controller.h |
Appalco | 0:351a2fb21235 | 3 | * Copyright (c) 2018, ZHAW |
Appalco | 0:351a2fb21235 | 4 | * All rights reserved. |
Appalco | 0:351a2fb21235 | 5 | */ |
Appalco | 0:351a2fb21235 | 6 | |
Appalco | 0:351a2fb21235 | 7 | #ifndef CONTROLLER_H_ |
Appalco | 0:351a2fb21235 | 8 | #define CONTROLLER_H_ |
Appalco | 0:351a2fb21235 | 9 | |
Appalco | 0:351a2fb21235 | 10 | #include <cstdlib> |
Appalco | 0:351a2fb21235 | 11 | #include <mbed.h> |
Appalco | 0:351a2fb21235 | 12 | #include "EncoderCounter.h" |
Appalco | 0:351a2fb21235 | 13 | #include "Motion.h" |
Appalco | 0:351a2fb21235 | 14 | #include "LowpassFilter.h" |
Appalco | 0:351a2fb21235 | 15 | |
Appalco | 0:351a2fb21235 | 16 | /** |
Appalco | 0:351a2fb21235 | 17 | * This class implements the coordinate transformation, speed control and |
Appalco | 0:351a2fb21235 | 18 | * the position estimation of a mobile robot with differential drive. |
Appalco | 0:351a2fb21235 | 19 | */ |
Appalco | 0:351a2fb21235 | 20 | class Controller { |
Appalco | 0:351a2fb21235 | 21 | |
Appalco | 0:351a2fb21235 | 22 | public: |
Appalco | 0:351a2fb21235 | 23 | |
Appalco | 0:351a2fb21235 | 24 | Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight); |
Appalco | 0:351a2fb21235 | 25 | virtual ~Controller(); |
Appalco | 0:351a2fb21235 | 26 | void setTranslationalVelocity(float velocity); |
Appalco | 0:351a2fb21235 | 27 | void setRotationalVelocity(float velocity); |
Appalco | 0:351a2fb21235 | 28 | float getActualTranslationalVelocity(); |
Appalco | 0:351a2fb21235 | 29 | float getActualRotationalVelocity(); |
Appalco | 0:351a2fb21235 | 30 | void setX(float x); |
Appalco | 0:351a2fb21235 | 31 | float getX(); |
Appalco | 0:351a2fb21235 | 32 | void setY(float y); |
Appalco | 0:351a2fb21235 | 33 | float getY(); |
Appalco | 0:351a2fb21235 | 34 | void setAlpha(float alpha); |
Appalco | 0:351a2fb21235 | 35 | float getAlpha(); |
Appalco | 0:351a2fb21235 | 36 | void correctPoseWithBeacon(float xActual, float yActual, float xMeasured, float yMeasured); |
Appalco | 0:351a2fb21235 | 37 | |
Appalco | 0:351a2fb21235 | 38 | private: |
Appalco | 0:351a2fb21235 | 39 | |
Appalco | 0:351a2fb21235 | 40 | static const float PERIOD; |
Appalco | 0:351a2fb21235 | 41 | static const float PI; |
Appalco | 0:351a2fb21235 | 42 | static const float WHEEL_DISTANCE; |
Appalco | 0:351a2fb21235 | 43 | static const float WHEEL_RADIUS; |
Appalco | 0:351a2fb21235 | 44 | static const float COUNTS_PER_TURN; |
Appalco | 0:351a2fb21235 | 45 | static const float LOWPASS_FILTER_FREQUENCY; |
Appalco | 0:351a2fb21235 | 46 | static const float KN; |
Appalco | 0:351a2fb21235 | 47 | static const float KP; |
Appalco | 0:351a2fb21235 | 48 | static const float MAX_VOLTAGE; |
Appalco | 0:351a2fb21235 | 49 | static const float MIN_DUTY_CYCLE; |
Appalco | 0:351a2fb21235 | 50 | static const float MAX_DUTY_CYCLE; |
Appalco | 0:351a2fb21235 | 51 | static const float SIGMA_TRANSLATION; |
Appalco | 0:351a2fb21235 | 52 | static const float SIGMA_ORIENTATION; |
Appalco | 0:351a2fb21235 | 53 | static const float SIGMA_DISTANCE; |
Appalco | 0:351a2fb21235 | 54 | static const float SIGMA_GAMMA; |
Appalco | 0:351a2fb21235 | 55 | |
Appalco | 0:351a2fb21235 | 56 | PwmOut& pwmLeft; |
Appalco | 0:351a2fb21235 | 57 | PwmOut& pwmRight; |
Appalco | 0:351a2fb21235 | 58 | EncoderCounter& counterLeft; |
Appalco | 0:351a2fb21235 | 59 | EncoderCounter& counterRight; |
Appalco | 0:351a2fb21235 | 60 | Motion translationalMotion; |
Appalco | 0:351a2fb21235 | 61 | Motion rotationalMotion; |
Appalco | 0:351a2fb21235 | 62 | float translationalVelocity; |
Appalco | 0:351a2fb21235 | 63 | float rotationalVelocity; |
Appalco | 0:351a2fb21235 | 64 | float actualTranslationalVelocity; |
Appalco | 0:351a2fb21235 | 65 | float actualRotationalVelocity; |
Appalco | 0:351a2fb21235 | 66 | short previousValueCounterLeft; |
Appalco | 0:351a2fb21235 | 67 | short previousValueCounterRight; |
Appalco | 0:351a2fb21235 | 68 | LowpassFilter speedLeftFilter; |
Appalco | 0:351a2fb21235 | 69 | LowpassFilter speedRightFilter; |
Appalco | 0:351a2fb21235 | 70 | float desiredSpeedLeft; |
Appalco | 0:351a2fb21235 | 71 | float desiredSpeedRight; |
Appalco | 0:351a2fb21235 | 72 | float actualSpeedLeft; |
Appalco | 0:351a2fb21235 | 73 | float actualSpeedRight; |
Appalco | 0:351a2fb21235 | 74 | float x; |
Appalco | 0:351a2fb21235 | 75 | float y; |
Appalco | 0:351a2fb21235 | 76 | float alpha; |
Appalco | 0:351a2fb21235 | 77 | float p[3][3]; |
Appalco | 0:351a2fb21235 | 78 | Ticker ticker; |
Appalco | 0:351a2fb21235 | 79 | |
Appalco | 0:351a2fb21235 | 80 | void run(); |
Appalco | 0:351a2fb21235 | 81 | }; |
Appalco | 0:351a2fb21235 | 82 | |
Appalco | 0:351a2fb21235 | 83 | #endif /* CONTROLLER_H_ */ |
Appalco | 0:351a2fb21235 | 84 | |
Appalco | 0:351a2fb21235 | 85 |