Hsieh JenYun / Mbed OS agv20190417

test0417

Dependencies:   ros_lib_indigo

uagv.h@6:4e03a22f2abb, 2019-04-17 (annotated)

Committer:
rudy_wang
Date:
Wed Apr 17 06:02:13 2019 +0000
Revision:
6:4e03a22f2abb
11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rudy_wang 6:4e03a22f2abb 1 #ifndef UAGV_CORE_CONFIG_H_
rudy_wang 6:4e03a22f2abb 2 #define UAGV_CORE_CONFIG_H_
rudy_wang 6:4e03a22f2abb 3
rudy_wang 6:4e03a22f2abb 4 #include <math.h>
rudy_wang 6:4e03a22f2abb 5
rudy_wang 6:4e03a22f2abb 6 #include <ros.h>
rudy_wang 6:4e03a22f2abb 7 #include <ros/time.h>
rudy_wang 6:4e03a22f2abb 8 #include <std_msgs/Bool.h>
rudy_wang 6:4e03a22f2abb 9 #include <std_msgs/Empty.h>
rudy_wang 6:4e03a22f2abb 10 #include <std_msgs/UInt8.h>
rudy_wang 6:4e03a22f2abb 11 #include <geometry_msgs/Twist.h>
rudy_wang 6:4e03a22f2abb 12
rudy_wang 6:4e03a22f2abb 13 #define CMD_VEL_PUBLISH_PERIOD 20.0 //hz
rudy_wang 6:4e03a22f2abb 14 #define DRIVE_INFORMATION_PUBLISH_PERIOD 30.0 //hz
rudy_wang 6:4e03a22f2abb 15
rudy_wang 6:4e03a22f2abb 16 #define WHEEL_RADIUS 0.09 // meter
rudy_wang 6:4e03a22f2abb 17 #define WHEEL_SEPARATION 0.46 // meter (BURGER => 0.16, WAFFLE => 0.287)
rudy_wang 6:4e03a22f2abb 18 #define ROBOT_RADIUS 0.294 // meter (BURGER => 0.078, WAFFLE => 0.294)
rudy_wang 6:4e03a22f2abb 19 #define ENCODER_MIN -2147483648 // raw
rudy_wang 6:4e03a22f2abb 20 #define ENCODER_MAX 2147483648 // raw
rudy_wang 6:4e03a22f2abb 21
rudy_wang 6:4e03a22f2abb 22 #define LEFT 0
rudy_wang 6:4e03a22f2abb 23 #define RIGHT 1
rudy_wang 6:4e03a22f2abb 24
rudy_wang 6:4e03a22f2abb 25 #define VELOCITY_CONSTANT_VALUE 1263.632956882 // V = r * w = r * RPM * 0.10472
rudy_wang 6:4e03a22f2abb 26 // = 0.033 * 0.229 * Goal RPM * 0.10472
rudy_wang 6:4e03a22f2abb 27 // Goal RPM = V * 1263.632956882
rudy_wang 6:4e03a22f2abb 28
rudy_wang 6:4e03a22f2abb 29 #define MAX_LINEAR_VELOCITY 0.22 // m/s
rudy_wang 6:4e03a22f2abb 30 #define MAX_ANGULAR_VELOCITY 2.84 // rad/s
rudy_wang 6:4e03a22f2abb 31 #define VELOCITY_STEP 0.01 // m/s
rudy_wang 6:4e03a22f2abb 32 #define VELOCITY_LINEAR_X 0.01 // m/s
rudy_wang 6:4e03a22f2abb 33 #define VELOCITY_ANGULAR_Z 0.1 // rad/s
rudy_wang 6:4e03a22f2abb 34 #define SCALE_VELOCITY_LINEAR_X 1
rudy_wang 6:4e03a22f2abb 35 #define SCALE_VELOCITY_ANGULAR_Z 1
rudy_wang 6:4e03a22f2abb 36
rudy_wang 6:4e03a22f2abb 37 #define TICK2RAD 0.000628318 // 2 * 3.14159265359 / 10000 = 0.000628318f
rudy_wang 6:4e03a22f2abb 38
rudy_wang 6:4e03a22f2abb 39 #define DEG2RAD(x) (x * 0.01745329252) // *PI/180
rudy_wang 6:4e03a22f2abb 40 #define RAD2DEG(x) (x * 57.2957795131) // *180/PI
rudy_wang 6:4e03a22f2abb 41
rudy_wang 6:4e03a22f2abb 42 #define TEST_DISTANCE 0.300 // meter
rudy_wang 6:4e03a22f2abb 43 #define TEST_RADIAN 3.14 // 180 degree
rudy_wang 6:4e03a22f2abb 44
rudy_wang 6:4e03a22f2abb 45 #define WAIT_FOR_BUTTON_PRESS 0
rudy_wang 6:4e03a22f2abb 46 #define WAIT_SECOND 1
rudy_wang 6:4e03a22f2abb 47 #define CHECK_BUTTON_RELEASED 2
rudy_wang 6:4e03a22f2abb 48
rudy_wang 6:4e03a22f2abb 49 void commandVelocityCallback(const geometry_msgs::Twist& cmd_vel_msg);
rudy_wang 6:4e03a22f2abb 50 void liftCmdCallback(const std_msgs::UInt8& lift_cmd_msg);
rudy_wang 6:4e03a22f2abb 51 void Driving_Right(int rightOutPut);
rudy_wang 6:4e03a22f2abb 52 void Driving_Left(int leftOutPut);
rudy_wang 6:4e03a22f2abb 53 void controlMotorSpeed(float goalLinearVel, float goalAngularVel);
rudy_wang 6:4e03a22f2abb 54
rudy_wang 6:4e03a22f2abb 55 #endif // UAGV_CORE_CONFIG_H_