Diff: RobotControl/RobotControl.h

Revision:

0:31f7be68e52d

Child:

1:6cd533a712c6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RobotControl/RobotControl.h	Thu Feb 07 17:43:19 2013 +0000
@@ -0,0 +1,198 @@
+#ifndef _ROBOT_CONTROL_H_
+#define _ROBOT_CONTROL_H_
+
+#include <cmath>
+#include "mbed.h"
+#include "MaxonESCON.h"
+#include "MotionState.h"
+#include "Task.h"
+#include "HMC5883L.h"
+#include "HMC6352.h"
+#include "defines.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @section DESCRIPTION
+ *
+ * This class controls the position and orientation of the robot. It has
+ * a run loop that is called periodically. This run loop reads the actual
+ * positions of the wheels, calculates the actual position and orientation
+ * of the robot, calculates to move the robot,
+ * and writes these velocity values to the motor servo drives.
+ * This class offers methods to enable or disable the controller, and to set
+ * the desired translational and rotational speed values of the robot.
+ */
+
+class RobotControl : public Task
+{
+
+private:
+
+    MaxonESCON*         motorControllerLeft;
+    MaxonESCON*         motorControllerRight;
+    HMC6352*            compass;
+    AnalogIn*           battery;
+    MotionState         Desired;
+    MotionState         Actual;
+    MotionState         stateLeft;
+    MotionState         stateRight;
+    float               period;
+    float               speed;
+    float               omega;
+    
+    float               rho; /* Distance to goal [m]*/
+    float               gamma; /* Angle of the start position to goal position [rad]*/
+    
+
+
+public:
+
+    /**
+     * Creates a robot control object and initializes all private
+     * state variables.
+     * @param motorControllerLeft a reference to the servo drive for the left motor.
+     * @param motorControllerRight a reference to the servo drive for the right motor.
+     * @param compass Modul HMC5883L
+     * @param period the sampling period of the run loop of this controller, given in [s].
+     */
+    RobotControl(MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, HMC6352* compass, float period);
+
+    /**
+    * Destructor of the Object to destroy the Object.
+    **/
+    virtual     ~RobotControl();
+
+    /**
+    * Enables or disables the servo drives of the motors.
+    * @param enable if <code>true</code> enables the drives, <code>false</code> otherwise
+    * the servo drives are shut down.
+    */
+    void        setEnable(bool enable);
+
+    /**
+    * Tests if the servo drives of the motors are enabled.
+    * @return <code>true</code> if the drives are enabled, <code>false</code> otherwise.
+    */
+    bool        isEnabled();
+
+    /**
+    * Sets the maximum acceleration value.
+    * @param acceleration the maximum acceleration value to use for the calculation
+    * of the motion trajectory, given in [m/s&sup2;].
+    */
+    void        setAcceleration(float acc);
+
+    /**
+    * Sets the maximum acceleration value of rotation.
+    * @param acceleration the maximum acceleration value to use for the calculation
+    * of the motion trajectory, given in [rad/s&sup2;].
+    */
+    void        setThetaAcceleration(float acc);
+
+    /**
+    * Sets the desired translational speed of the robot.
+    * @param speed the desired speed, given in [m/s].
+    */
+    void        setDesiredSpeed(float speed);
+
+    /**
+    * Sets the desired rotational speed of the robot.
+    * @param speed the desired speed, given in [rad/s].
+    */
+    void        setDesiredOmega(float omega);
+
+    /**
+    * Sets the desired X- position of the robot.
+    * @param xpostion the desired position, given in [m].
+    */
+    void        setxPosition(float position);
+
+    /**
+    * Sets the desired Y-position of the robot.
+    * @param ypostion the desired position, given in [m].
+    */
+    void        setyPosition(float position);
+
+    /**
+    * Sets the angle of the robot.
+    * @param theta the desired angle, given in [rad].
+    */
+    void        setTheta(float theta);
+
+    /**
+     * Gets the desired translational speed of the robot.
+     * @return the desired speed, given in [m/s].
+     */
+    float       getDesiredSpeed();
+
+    /**
+     * Gets the actual translational speed of the robot.
+     * @return the desired speed, given in [m/s].
+     */
+    float       getActualSpeed();
+
+    /**
+    * Gets the desired rotational speed of the robot.
+    * @return the desired speed, given in [rad/s].
+    */
+    float       getDesiredOmega();
+
+    /**
+    * Gets the actual rotational speed of the robot.
+    * @return the desired speed, given in [rad/s].
+    */
+    float       getActualOmega();
+
+    /**
+    * Gets the actual translational X-position of the robot.
+    * @return the actual position, given in [m].
+    */
+    float       getxActualPosition();
+
+    /**
+    * Gets the X-position following error of the robot.
+    * @return the position following error, given in [m].
+    */
+    float       getxPositionError();
+
+    /**
+    * Gets the actual translational Y-position of the robot.
+    * @return the actual position, given in [m].
+    */
+    float       getyActualPosition();
+
+    /**
+    * Gets the Y-position following error of the robot.
+    * @return the position following error, given in [m].
+    */
+    float       getyPositionError();
+
+    /**
+    * Gets the actual orientation of the robot.
+    * @return the orientation, given in [rad].
+    */
+    float       getActualTheta();
+
+    /**
+    * Gets the orientation following error of the robot.
+    * @return the orientation following error, given in [rad].
+    */
+    float       getThetaError();
+
+    /**
+    * Set all state to zero
+    * @param Sets the start X-position [m].
+    * @param Sets the start y-position [m].
+    */
+    void        setAllToZero(float xZeroPos, float xZeroPos);
+
+    void        run();
+};
+
+#endif