This repo is for driving a differential-drived robot.
Dependencies: mbed ros_lib_kinetic_1 Encoder
controller.h@0:b21301d612b9, 2021-03-10 (annotated)
- Committer:
- r08522622
- Date:
- Wed Mar 10 03:23:54 2021 +0000
- Revision:
- 0:b21301d612b9
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
r08522622 | 0:b21301d612b9 | 1 | class Ctrl { |
r08522622 | 0:b21301d612b9 | 2 | |
r08522622 | 0:b21301d612b9 | 3 | public: |
r08522622 | 0:b21301d612b9 | 4 | Ctrl(); |
r08522622 | 0:b21301d612b9 | 5 | float ref; |
r08522622 | 0:b21301d612b9 | 6 | float error, error_last; |
r08522622 | 0:b21301d612b9 | 7 | float volt; |
r08522622 | 0:b21301d612b9 | 8 | float theta, theta_last; |
r08522622 | 0:b21301d612b9 | 9 | float dt; |
r08522622 | 0:b21301d612b9 | 10 | float w0, w1, w2, lp_w; |
r08522622 | 0:b21301d612b9 | 11 | |
r08522622 | 0:b21301d612b9 | 12 | void init(); |
r08522622 | 0:b21301d612b9 | 13 | float PID(); |
r08522622 | 0:b21301d612b9 | 14 | float get_omega(); |
r08522622 | 0:b21301d612b9 | 15 | float low_pass_filter(); |
r08522622 | 0:b21301d612b9 | 16 | void omega_processor(); |
r08522622 | 0:b21301d612b9 | 17 | |
r08522622 | 0:b21301d612b9 | 18 | }; |