João Sousa / Mbed OS romi-vff

sra-romi

Dependencies:   BufferedSerial Matrix

Robot.h@4:1defb279922a, 2021-05-11 (annotated)

Committer:
joaopsousa99
Date:
Tue May 11 18:10:22 2021 +0000
Revision:
4:1defb279922a
Parent:
1:dc87724abce8 
as.djvblaskdvj

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabiofaria 1:dc87724abce8 1 /** @file */
fabiofaria 1:dc87724abce8 2 #ifndef ROBOT_H_
fabiofaria 1:dc87724abce8 3 #define ROBOT_H_
fabiofaria 1:dc87724abce8 4
fabiofaria 1:dc87724abce8 5 #include "mbed.h"
joaopsousa99 4:1defb279922a 6 #include <cstdint>
joaopsousa99 4:1defb279922a 7
joaopsousa99 4:1defb279922a 8 extern const int16_t COUNTS_PER_ROTATION;
joaopsousa99 4:1defb279922a 9 extern const int16_t WHEEL_DIAMETER;
joaopsousa99 4:1defb279922a 10 extern const int16_t WHEEL_DISTANCE;
joaopsousa99 4:1defb279922a 11 extern const float MAX_LIN_VEL;
joaopsousa99 4:1defb279922a 12 extern const float MIN_LIN_VEL;
joaopsousa99 4:1defb279922a 13 extern const float MIN_SET_SPEEDS;
joaopsousa99 4:1defb279922a 14 extern const float MAX_SET_SPEEDS;
fabiofaria 1:dc87724abce8 15
fabiofaria 1:dc87724abce8 16 extern int16_t countsLeft;
fabiofaria 1:dc87724abce8 17 extern int16_t countsRight;
fabiofaria 1:dc87724abce8 18
joaopsousa99 4:1defb279922a 19 extern float poseX;
joaopsousa99 4:1defb279922a 20 extern float poseY;
joaopsousa99 4:1defb279922a 21 extern float poseTheta;
joaopsousa99 4:1defb279922a 22
fabiofaria 1:dc87724abce8 23 /** \brief Sets the speed for both motors.
fabiofaria 1:dc87724abce8 24 *
fabiofaria 1:dc87724abce8 25 * \param leftSpeed A number from -300 to 300 representing the speed and
fabiofaria 1:dc87724abce8 26 * direction of the left motor. Values of -300 or less result in full speed
fabiofaria 1:dc87724abce8 27 * reverse, and values of 300 or more result in full speed forward.
fabiofaria 1:dc87724abce8 28 * \param rightSpeed A number from -300 to 300 representing the speed and
fabiofaria 1:dc87724abce8 29 * direction of the right motor. Values of -300 or less result in full speed
fabiofaria 1:dc87724abce8 30 * reverse, and values of 300 or more result in full speed forward. */
fabiofaria 1:dc87724abce8 31 void setSpeeds(int16_t leftSpeed, int16_t rightSpeed);
fabiofaria 1:dc87724abce8 32
fabiofaria 1:dc87724abce8 33 /** \brief Sets the speed for the left motor.
fabiofaria 1:dc87724abce8 34 *
fabiofaria 1:dc87724abce8 35 * \param speed A number from -300 to 300 representing the speed and
fabiofaria 1:dc87724abce8 36 * direction of the left motor. Values of -300 or less result in full speed
fabiofaria 1:dc87724abce8 37 * reverse, and values of 300 or more result in full speed forward. */
fabiofaria 1:dc87724abce8 38 void setLeftSpeed(int16_t speed);
fabiofaria 1:dc87724abce8 39
fabiofaria 1:dc87724abce8 40 /** \brief Sets the speed for the right motor.
fabiofaria 1:dc87724abce8 41 *
fabiofaria 1:dc87724abce8 42 * \param speed A number from -300 to 300 representing the speed and
fabiofaria 1:dc87724abce8 43 * direction of the right motor. Values of -300 or less result in full speed
fabiofaria 1:dc87724abce8 44 * reverse, and values of 300 or more result in full speed forward. */
fabiofaria 1:dc87724abce8 45 void setRightSpeed(int16_t speed);
fabiofaria 1:dc87724abce8 46
fabiofaria 1:dc87724abce8 47 /*! Returns the number of counts that have been detected from the both
fabiofaria 1:dc87724abce8 48 * encoders. These counts start at 0. Positive counts correspond to forward
fabiofaria 1:dc87724abce8 49 * movement of the wheel of the Romi, while negative counts correspond
fabiofaria 1:dc87724abce8 50 * to backwards movement.
fabiofaria 1:dc87724abce8 51 *
fabiofaria 1:dc87724abce8 52 * The count is returned as a signed 16-bit integer. When the count goes
fabiofaria 1:dc87724abce8 53 * over 32767, it will overflow down to -32768. When the count goes below
fabiofaria 1:dc87724abce8 54 * -32768, it will overflow up to 32767. */
fabiofaria 1:dc87724abce8 55 void getCounts();
fabiofaria 1:dc87724abce8 56
fabiofaria 1:dc87724abce8 57 /*! This function is just like getCounts() except it also clears the
fabiofaria 1:dc87724abce8 58 * counts before returning. If you call this frequently enough, you will
fabiofaria 1:dc87724abce8 59 * not have to worry about the count overflowing. */
fabiofaria 1:dc87724abce8 60 void getCountsAndReset();
fabiofaria 1:dc87724abce8 61
joaopsousa99 4:1defb279922a 62 void updatePose();
joaopsousa99 4:1defb279922a 63
joaopsousa99 4:1defb279922a 64 void robotVel2wheelVel(float v, float w, float *wheelSpeeds);
joaopsousa99 4:1defb279922a 65
joaopsousa99 4:1defb279922a 66 float mapSpeeds(float value);
joaopsousa99 4:1defb279922a 67
fabiofaria 1:dc87724abce8 68 #endif /* ROBOT_H_ */