Diff: uagv.h

Revision:

6:4e03a22f2abb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uagv.h	Wed Apr 17 06:02:13 2019 +0000
@@ -0,0 +1,55 @@
+#ifndef UAGV_CORE_CONFIG_H_
+#define UAGV_CORE_CONFIG_H_
+
+#include <math.h>
+
+#include <ros.h>
+#include <ros/time.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Empty.h>
+#include <std_msgs/UInt8.h>
+#include <geometry_msgs/Twist.h>
+
+#define CMD_VEL_PUBLISH_PERIOD           20.0   //hz
+#define DRIVE_INFORMATION_PUBLISH_PERIOD 30.0   //hz
+
+#define WHEEL_RADIUS                    0.09           // meter
+#define WHEEL_SEPARATION                0.46           // meter (BURGER => 0.16, WAFFLE => 0.287)
+#define ROBOT_RADIUS                    0.294           // meter (BURGER => 0.078, WAFFLE => 0.294)
+#define ENCODER_MIN                     -2147483648     // raw
+#define ENCODER_MAX                     2147483648      // raw
+
+#define LEFT                            0
+#define RIGHT                           1
+
+#define VELOCITY_CONSTANT_VALUE         1263.632956882  // V = r * w = r * RPM * 0.10472
+//   = 0.033 * 0.229 * Goal RPM * 0.10472
+// Goal RPM = V * 1263.632956882
+
+#define MAX_LINEAR_VELOCITY             0.22   // m/s
+#define MAX_ANGULAR_VELOCITY            2.84   // rad/s
+#define VELOCITY_STEP                   0.01   // m/s
+#define VELOCITY_LINEAR_X               0.01   // m/s
+#define VELOCITY_ANGULAR_Z              0.1    // rad/s
+#define SCALE_VELOCITY_LINEAR_X         1
+#define SCALE_VELOCITY_ANGULAR_Z        1
+
+#define TICK2RAD                        0.000628318  // 2 * 3.14159265359 / 10000 = 0.000628318f
+
+#define DEG2RAD(x)                      (x * 0.01745329252)  // *PI/180
+#define RAD2DEG(x)                      (x * 57.2957795131)  // *180/PI
+
+#define TEST_DISTANCE                   0.300     // meter
+#define TEST_RADIAN                     3.14      // 180 degree
+
+#define WAIT_FOR_BUTTON_PRESS           0
+#define WAIT_SECOND                     1
+#define CHECK_BUTTON_RELEASED           2
+
+void commandVelocityCallback(const geometry_msgs::Twist& cmd_vel_msg);
+void liftCmdCallback(const std_msgs::UInt8& lift_cmd_msg);
+void Driving_Right(int rightOutPut);
+void Driving_Left(int leftOutPut);
+void controlMotorSpeed(float goalLinearVel, float goalAngularVel);
+
+#endif // UAGV_CORE_CONFIG_H_
\ No newline at end of file