Yulin Chen / Mbed 2 deprecated SOLamr_move_driver

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?

UserRevisionLine numberNew 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 };