Jan Meindl / Odometry

odometry

Odometry.h@0:402f8c75d394, 2015-08-11 (annotated)

Committer:
zatakon
Date:
Tue Aug 11 13:05:46 2015 +0000
Revision:
0:402f8c75d394
Child:
1:1765665581cc
??????????; ??????????; ??????????; ?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zatakon 0:402f8c75d394 1 #ifndef Odometry_H
zatakon 0:402f8c75d394 2 #define Odometry_H
zatakon 0:402f8c75d394 3
zatakon 0:402f8c75d394 4 #include <vector>
zatakon 0:402f8c75d394 5 #include "mbed.h"
zatakon 0:402f8c75d394 6 #include "math.h"
zatakon 0:402f8c75d394 7 #define M_PI 3.14159265358979323846 /* pi */
zatakon 0:402f8c75d394 8
zatakon 0:402f8c75d394 9
zatakon 0:402f8c75d394 10 class Robot
zatakon 0:402f8c75d394 11 {
zatakon 0:402f8c75d394 12 public:
zatakon 0:402f8c75d394 13 Robot(float wheelbase, float width, float countPerMeter);
zatakon 0:402f8c75d394 14
zatakon 0:402f8c75d394 15 /* returns radius in [m]. When turning right, radius is negativ
zatakon 0:402f8c75d394 16 * left is positive
zatakon 0:402f8c75d394 17 *
zatakon 0:402f8c75d394 18 * param servoAngle is how is the servo angle in radians. Center
zatakon 0:402f8c75d394 19 * is pi/2 (1.571)
zatakon 0:402f8c75d394 20 */
zatakon 0:402f8c75d394 21 float getRadius(float servoAngle);
zatakon 0:402f8c75d394 22
zatakon 0:402f8c75d394 23 void countRadius(float servoAngle);
zatakon 0:402f8c75d394 24
zatakon 0:402f8c75d394 25 float getServoAngle(float R);
zatakon 0:402f8c75d394 26
zatakon 0:402f8c75d394 27 /* returns speed in format
zatakon 0:402f8c75d394 28 * [0] = linear x
zatakon 0:402f8c75d394 29 * [1] = linear y
zatakon 0:402f8c75d394 30 * [2] = angular z
zatakon 0:402f8c75d394 31 *
zatakon 0:402f8c75d394 32 * function needs actual R
zatakon 0:402f8c75d394 33 */
zatakon 0:402f8c75d394 34 std::vector<float> getSpeed(std::vector<int> encoders);
zatakon 0:402f8c75d394 35
zatakon 0:402f8c75d394 36 std::vector<float> getMotorRatio();
zatakon 0:402f8c75d394 37
zatakon 0:402f8c75d394 38 std::vector<float> getMotorRatio(float R);
zatakon 0:402f8c75d394 39
zatakon 0:402f8c75d394 40 private:
zatakon 0:402f8c75d394 41 float _whbs; // wheelbase
zatakon 0:402f8c75d394 42 float _w; // width
zatakon 0:402f8c75d394 43 float _R;
zatakon 0:402f8c75d394 44 uint32_t _countPerMeter;
zatakon 0:402f8c75d394 45
zatakon 0:402f8c75d394 46 std::vector<float> _odom;
zatakon 0:402f8c75d394 47 std::vector<float> _ratio;
zatakon 0:402f8c75d394 48 };
zatakon 0:402f8c75d394 49
zatakon 0:402f8c75d394 50 #endif