This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
RobotControl/RobotControl.h
- Committer:
- chrigelburri
- Date:
- 2013-03-03
- Revision:
- 2:d8e1613dc38b
- Parent:
- 1:6cd533a712c6
- Child:
- 3:92ba0254af87
File content as of revision 2:d8e1613dc38b:
#ifndef _ROBOT_CONTROL_H_ #define _ROBOT_CONTROL_H_ #include <cmath> #include "mbed.h" #include "MaxonESCON.h" #include "MotionState.h" #include "Task.h" #include "HMC5883L.h" #include "HMC6352.h" #include "defines.h" /** * @author Christian Burri * * @section LICENSE * * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe * All rights reserved. * * @section DESCRIPTION * * This class controls the position and orientation of the robot. It has * a run loop that is called periodically. This run loop reads the actual * positions of the wheels, calculates the actual position and orientation * of the robot, calculates to move the robot, * and writes these velocity values to the motor servo drives. * This class offers methods to enable or disable the controller, and to set * the desired translational and rotational speed values of the robot. */ class RobotControl : public Task { private: MaxonESCON* motorControllerLeft; MaxonESCON* motorControllerRight; // HMC6352* compass; AnalogIn* battery; MotionState Desired; MotionState Actual; MotionState stateLeft; MotionState stateRight; float period; float speed; float omega; public: /** * Creates a robot control object and initializes all private * state variables. * @param motorControllerLeft a reference to the servo drive for the left motor. * @param motorControllerRight a reference to the servo drive for the right motor. * @param compass Modul HMC5883L * @param period the sampling period of the run loop of this controller, given in [s]. */ RobotControl(MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ float period); /** * Destructor of the Object to destroy the Object. **/ virtual ~RobotControl(); /** * Enables or disables the servo drives of the motors. * @param enable if <code>true</code> enables the drives, <code>false</code> otherwise * the servo drives are shut down. */ void setEnable(bool enable); /** * Tests if the servo drives of the motors are enabled. * @return <code>true</code> if the drives are enabled, <code>false</code> otherwise. */ bool isEnabled(); /** * Sets the maximum acceleration value. * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]. */ void setAcceleration(float acceleration); /** * Sets the maximum acceleration value of rotation. * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [rad/s<SUP>2</SUP>]. */ void setThetaAcceleration(float acceleration); /** * Sets the desired translational speed of the robot. * @param speed the desired speed, given in [m/s]. */ void setDesiredSpeed(float speed); /** * Sets the desired rotational speed of the robot. * @param omega the desired rotational speed, given in [rad/s]. */ void setDesiredOmega(float omega); /** * Sets the desired X-position of the robot. * @param xposition the desired position, given in [m]. */ void setxPosition(float xposition); /** * Sets the desired Y-position of the robot. * @param yposition the desired position, given in [m]. */ void setyPosition(float yposition); /** * Sets the desired angle of the robot. * @param theta the desired angle, given in [rad]. */ void setTheta(float theta); /** * Sets the desired Position and angle. * @param xposition the desired position, given in [m]. * @param yposition the desired position, given in [m]. * @param theta the desired angle, given in [rad]. */ void setPositionAngle(float xposition, float yposition, float theta); /** * Gets the desired Theta. Angle of the goal Point. * @return the desired Theta, given in [rad]. */ float getTheta(); /** * Gets the desired translational speed of the robot. * @return the desired speed, given in [m/s]. */ float getDesiredSpeed(); /** * Gets the actual translational speed of the robot. * @return the desired speed, given in [m/s]. */ float getActualSpeed(); /** * Gets the desired rotational speed of the robot. * @return the desired speed, given in [rad/s]. */ float getDesiredOmega(); /** * Gets the actual rotational speed of the robot. * @return the desired speed, given in [rad/s]. */ float getActualOmega(); /** * Gets the actual translational X-position of the robot. * @return the actual position, given in [m]. */ float getxActualPosition(); /** * Gets the X-position following error of the robot. * @return the position following error, given in [m]. */ float getxPositionError(); /** * Gets the actual translational Y-position of the robot. * @return the actual position, given in [m]. */ float getyActualPosition(); /** * Gets the Y-position following error of the robot. * @return the position following error, given in [m]. */ float getyPositionError(); /** * Gets the actual orientation of the robot. * @return the orientation, given in [rad]. */ float getActualTheta(); /** * Gets the orientation following error of the robot. * @return the orientation following error, given in [rad]. */ float getThetaError(); /** * Gets the Distance to Disired point. Calculate witch pythagoras * @return distance to goal, given in [m]. */ float getDistanceError(); /** * Gets the Angle ot the pointing vector to the goal right the unicycle axis from actual point * @return theta to goal, given in [rad]. */ float getThetaErrorToGoal(); /** * Gets the Angle ot the pointing vector to the goal right the unicycle main axis * @return theta from the goal, given in [rad]. */ float getThetaGoal(); /** * Set all state to zero * @param xZeroPos Sets the start X-position [m]. * @param yZeroPos Sets the start y-position [m]. * @param theta Sets the start angle [rad]. */ void setAllToZero(float xZeroPos, float yZeroPos, float theta); void run(); }; #endif