Differential drive succeed (Ver. 1.0)
Differential_Drive.h
- Committer:
- benson516
- Date:
- 2016-10-26
- Revision:
- 0:644a119c9d8a
File content as of revision 0:644a119c9d8a:
// A motion control for differential drive mobile robot // Designed by Chun-Feng Huang (Benson516) #ifndef DIFFERENTIL_DRIVE_H #define DIFFERENTIL_DRIVE_H // Begine the library //////////////////////// // #include "mbed.h" #include <vector> #include <cmath> // for abs() #include "PID.h" using std::abs; using std::vector; class Diff_Drive{ float Ts; // sec., sampling time ///////////////////////// // Controller parameters // Control gains // K.Size = 8 // Kp1, Ki1, Kd1, Ka1, Kp2, Ki2, Kd2, Ka2 vector<float> K; // Driver parameters // Output limit float Vdc; // Volt. float voltage_limit_H; // +Vdc float voltage_limit_L; // -Vdc // Input limit float W_max,W_max_inv; // rad/s // Motor parameters float Ke; // Speed constant, volt.-sec./rad <- This may be repalced by a nonlinear function f_e(w) float Kt; // Torque Constant, Nt./Amp. (Ke >=Kt) // Robot parameters float b, b_inv; // m, half of robot's wheel axle float r, r_half, r_inv; // m, wheel radious float r_half_b_inv; // r_half*b_inv // States(feedback signals), commands, outputs, // States(feedback signals) vector<float> V_W; // Speed-rotaion domain vector<float> W1_W2; // Two-single-wheel domain, W1: right wheel, W2: left wheel // Commands vector<float> Vd_Wd; // Input from higher-level commander vector<float> W1d_W2d; vector<float> W1dS_W2dS; // Saturated command for W1 and W2 vector<float> VdS_WdS; // Saturated command for V and W // Outputs (voltage command) vector<float> UV_UW; // Controller output, speed-rotaion domain vector<float> U1_U2; // Controller output, two-single-wheel domain, U1: right wheel, U2: left wheel vector<float> V1_V2; // Voltage compensated with back-emf, two-single-wheel domain, V1: right wheel, V2: left wheel vector<float> V1S_V2S; // Saturated voltage, two-single-wheel domain vector<float> delta_V1_V2, delta_VV_VW; // The difference between saturated and original voltage command // deltaVi = VSi - Vi // PID controller PID PID_1,PID_2; public: Diff_Drive(float Ts_in, bool Diff_drive_in); // bool Diff_drive; // Ture: differential drive; false: separated control // // T: two-single-wheel domain |-> speed-rotaion domain void Transform(const vector<float> &V_in, vector<float> &V_out); void Transform_inv(const vector<float> &V_in, vector<float> &V_out); // Inverse transformation // Main process void compute(float Vd, float Wd, float W1, float W2); void compute_SeparatedMethod(float Vd, float Wd, float W1, float W2); void compute_DiffDriveMethod(float Vd, float Wd, float W1, float W2); // Get results float get_V1S(); float get_V2S(); // Saturation void Saturation_input(const vector<float> &in, vector<float> &out, bool enable); void Saturation_output(const vector<float> &in, vector<float> &out,vector<float> &delta_out, bool enable); // Back emf as the function of rotational speed float func_back_emf(float W_in); }; //////////////////////// end Begine the library #endif