Christian Burri
/
autonomousRobotAndroid
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autonomousRobotAndroid
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Christian Burri
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RobotControl.h
00001 #ifndef _ROBOT_CONTROL_H_ 00002 #define _ROBOT_CONTROL_H_ 00003 00004 #include "MaxonESCON.h" 00005 #include "MotionState.h" 00006 #include "Task.h" 00007 #include "defines.h" 00008 00009 /** 00010 * @author Christian Burri 00011 * 00012 * @copyright Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe 00013 * All rights reserved. 00014 * 00015 * @brief 00016 * 00017 * This class controls the position of the robot. It has 00018 * a run loop that is called periodically. This run loop reads the actual 00019 * positions of the wheels, calculates the actual position and orientation 00020 * of the robot, calculates to move the robot 00021 * and writes these velocity values to the motor servo drives. 00022 * This class offers methods to enable or disable the controller, and to set 00023 * the desired x- and y-postion and the θ values of the robot. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, 00026 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00027 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 00028 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, 00030 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF 00031 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00032 */ 00033 00034 class RobotControl : public Task 00035 { 00036 00037 private: 00038 00039 MaxonESCON* motorControllerLeft; 00040 MaxonESCON* motorControllerRight; 00041 MotionState Desired; 00042 MotionState Actual; 00043 MotionState stateLeft; 00044 MotionState stateRight; 00045 float period; 00046 float speed; 00047 float omega; 00048 00049 /** 00050 * @brief Add ±2π when the range of 00051 * the radian is over +π or under -π. 00052 * @param theta to check the value 00053 * @return the value in the range from -π to +π 00054 */ 00055 float PiRange(float theta); 00056 00057 public: 00058 00059 /** 00060 * @brief Creates a <code>Robot Control</code> object and 00061 * initializes all private state variables. 00062 * @param motorControllerLeft a reference to the servo 00063 * drive for the left motor 00064 * @param motorControllerRight a reference to the servo 00065 * drive for the right motor 00066 * @param period the sampling period of the run loop of 00067 * this controller, given in [s] 00068 */ 00069 RobotControl(MaxonESCON* motorControllerLeft, 00070 MaxonESCON* motorControllerRight, 00071 float period); 00072 00073 /** 00074 * @brief Destructor of the Object to destroy the Object. 00075 **/ 00076 virtual ~RobotControl(); 00077 00078 /** 00079 * @brief Enables or disables the servo drives of the motors. 00080 * @param enable if <code>true</code> enables the drives, 00081 * <code>false</code> otherwise 00082 * the servo drives are shut down. 00083 */ 00084 void setEnable(bool enable); 00085 00086 /** 00087 * @brief Tests if the servo drives of the motors are enabled. 00088 * @return <code>true</code> if the drives are enabled, 00089 * <code>false</code> otherwise 00090 */ 00091 bool isEnabled(); 00092 00093 /** 00094 * @brief Sets the desired translational speed of the robot. 00095 * @param speed the desired speed, given in [m/s] 00096 */ 00097 void setDesiredSpeed(float speed); 00098 00099 /** 00100 * @brief Sets the desired rotational speed of the robot. 00101 * @param omega the desired rotational speed, given in [rad/s] 00102 */ 00103 void setDesiredOmega(float omega); 00104 00105 /** 00106 * @brief Sets the desired X-position of the robot. 00107 * @param xposition the desired position, given in [m] 00108 */ 00109 void setDesiredxPosition(float xposition); 00110 00111 /** 00112 * @brief Sets the desired Y-position of the robot. 00113 * @param yposition the desired position, given in [m] 00114 */ 00115 void setDesiredyPosition(float yposition); 00116 00117 /** 00118 * @brief Sets the desired θ of the robot. 00119 * @param theta the desired θ, given in [rad] 00120 */ 00121 void setDesiredTheta(float theta); 00122 00123 /** 00124 * @brief Get the desired X-position of the robot. 00125 * @return xposition the desired position, given in [m] 00126 */ 00127 float getDesiredxPosition(); 00128 00129 /** 00130 * @brief Get the desired Y-position of the robot. 00131 * @return yposition the desired position, given in [m] 00132 */ 00133 float getDesiredyPosition(); 00134 00135 /** 00136 * @brief Get the desired θ of the robot. 00137 * @return theta the desired θ, given in [rad] 00138 */ 00139 float getDesiredTheta(); 00140 00141 /** 00142 * @brief Sets the desired Position and θ. 00143 * @param xposition the desired position, given in [m] 00144 * @param yposition the desired position, given in [m] 00145 * @param theta the desired θ, given in [rad] 00146 */ 00147 void setDesiredPositionAndAngle(float xposition, 00148 float yposition, 00149 float theta); 00150 00151 /** 00152 * @brief Gets the desired θ of the goal point. 00153 * @return the desired θ, given in [rad] 00154 */ 00155 float getTheta(); 00156 00157 /** 00158 * @brief Gets the desired translational speed of the robot. 00159 * @return the desired speed, given in [m/s] 00160 */ 00161 float getDesiredSpeed(); 00162 00163 /** 00164 * @brief Gets the actual translational speed of the robot. 00165 * @return the desired speed, given in [m/s] 00166 */ 00167 float getActualSpeed(); 00168 00169 /** 00170 * @brief Gets the desired rotational speed of the robot. 00171 * @return the desired speed, given in [rad/s] 00172 */ 00173 float getDesiredOmega(); 00174 00175 /** 00176 * @brief Gets the actual rotational speed of the robot. 00177 * @return the desired speed, given in [rad/s] 00178 */ 00179 float getActualOmega(); 00180 00181 /** 00182 * @brief Gets the actual translational X-position of the robot. 00183 * @return the actual position, given in [m] 00184 */ 00185 float getxActualPosition(); 00186 00187 /** 00188 * @brief Gets the X-position following error of the robot. 00189 * @return the position following error, given in [m] 00190 */ 00191 float getxPositionError(); 00192 00193 /** 00194 * @brief Gets the actual translational Y-position of the robot. 00195 * @return the actual position, given in [m] 00196 */ 00197 float getyActualPosition(); 00198 00199 /** 00200 * @brief Gets the Y-position following error of the robot. 00201 * @return the position following error, given in [m] 00202 */ 00203 float getyPositionError(); 00204 00205 /** 00206 * @brief Gets the actual orientation of the robot. 00207 * @return the orientation, given in [rad] 00208 */ 00209 float getActualTheta(); 00210 00211 /** 00212 * @brief Gets the orientation following error of the robot. 00213 * @return the orientation following error, given in [rad] 00214 */ 00215 float getThetaError(); 00216 00217 /** 00218 * @brief Gets the distance to disired point. Calculate with pythagoras. 00219 * @return distance to goal, given in [m] 00220 */ 00221 float getDistanceError(); 00222 00223 /** 00224 * @brief Gets the θ ot the pointing vector to the goal right 00225 * the unicycle axis from actual point. 00226 * @return theta to goal, given in [rad] 00227 */ 00228 float getThetaErrorToGoal(); 00229 00230 /** 00231 * @brief Gets the θ ot the pointing vector to the goal right the unicycle main axis. 00232 * @return theta from the goal, given in [rad] 00233 */ 00234 float getThetaGoal(); 00235 00236 /** 00237 * @brief Set all state to zero, except the X-position, y-position and θ. 00238 * @param xZeroPos Sets the start X-position, given in [m] 00239 * @param yZeroPos Sets the start y-position, given in [m] 00240 * @param theta Sets the start θ, given in [rad] 00241 */ 00242 void setAllToZero(float xZeroPos, 00243 float yZeroPos, 00244 float theta); 00245 00246 /** 00247 * @brief Run method actualize every period. 00248 */ 00249 void run(); 00250 }; 00251 00252 #endif
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