#include <RobChair.h>

Public Types
enum	_CommonFunction { TurnOff = 0, TurnOn = 1 }
	Common functions. More...
enum	_EncoderFunction { SetVelocityValue = 2, SetEncoderControlMode = 3, SetPIControlValues = 4, ResetEncoderInformation = 5, DataFromEncoder = 6 }
	Encoder functions. More...
enum	_PDriveFunction { SetDACCommand = 2, SetPDriveControlMode = 3, DataFromMotor = 4 }
	PDrive functions. More...
enum	_RobChairDS { PC = 0, RightPDrive = 1, LeftPDrive = 2, BothPDrives = 3, RightEncoder = 4, LeftEncoder = 5, BothEncoders = 6, Joystick = 10, SyncMCU = 15 }
	RobChair destinations and sources. More...
enum	_TriggerFunction { SyncronizeAllNodes = 15 }
	Trigger functions. More...
typedef enum RobChair::_CommonFunction	CommonFunction
	Common functions.
typedef enum RobChair::_EncoderFunction	EncoderFunction
	Encoder functions.
typedef enum RobChair::_PDriveFunction	PDriveFunction
	PDrive functions.
typedef enum RobChair::_RobChairDS	RobChairDS
	RobChair destinations and sources.
typedef enum RobChair::_TriggerFunction	TriggerFunction
	Trigger functions.
Public Member Functions
double	getAngularVelocity ()
	Getter for the robot angular velocity.
double	getLinearVelocity ()
	Getter for the robot linear velocity.
double	getPositionX ()
	Getter for the robot x position.
double	getPositionY ()
	Getter for the robot y position.
double	getYaw ()
void	initializeRobChair (ros::Publisher *can_pub, double kp=0.0, double ki=0.0)
	This function initializes the PDrives, the Encoders and the Trigger in the RobChair robot.
void	receivedCANFrame (const can_msgs::CANFrame::ConstPtr &msg)
	Callback for incoming CAN frames.
void	resetEncoders ()
	This function resets both encoders.
	RobChair ()
	RobChair constructor. This is the class constructor.
void	setPIControlValues (RobChairDS destination, double kp, double ki)
	This function allows to set the PID control gains for the RobChair speed controller.
void	setVelocities (double linear_velocity, double angular_velocity)
	This function allows to send velocity commands to the velocity controllers.
	~RobChair ()
	RobChair destructor.
Private Member Functions
void	decodeEncoderData (RobChairDS encoder, const can_msgs::CANFrame::ConstPtr &msg)
	This function decodes the data sent from the encoders to the PC.
double	limitAngle (double angle)
	The angles must be contained between [-Pi, Pi].
void	sendCANFrame (RobChairDS destination, char function, char *data, int data_count, char n=0)
	This functions sends CAN frames to the RobChair CAN bus.
void	setVelocity (RobChairDS destination, double velocity)
	This function allows to set the velocity reference on the RobChair motor drivers.
void	turnEncodersOff ()
	This functions turns the Encoders on the RobChair OFF - Idle Mode.
void	turnEncodersOn ()
	This functions turns the Encoders on the RobChair ON - Running Mode.
void	turnPDrivesOff ()
	This functions turns the PDrives on the RobChair OFF - Idle Mode.
void	turnPDrivesOn ()
	This functions turns the PDrives on the RobChair ON - Running Mode.
void	turnTriggerOff ()
	This functions turns the Trigger on the RobChair OFF - Running Mode.
void	turnTriggerOn ()
	This functions turns the Trigger on the RobChair ON - Running Mode.
Private Attributes
double	angular_velocity_
	Angular velocity.
ros::Publisher *	can_pub_
	CANopen bus ROS publisher.
bool	got_left_encoder_data_
	Flag for left encoder data.
bool	got_right_encoder_data_
	Flag for right encoder data.
double	last_left_wheel_position_
	The last left wheel position.
double	last_right_wheel_position_
	The last right wheel position.
double	left_wheel_position_
	Left wheel position.
double	left_wheel_velocity_
	Left wheel velocity.
double	linear_velocity_
	Velocity in x.
char	n_
	Current time slot sent by the trigger.
double	right_wheel_position_
	Right wheel position.
double	right_wheel_velocity_
	Right wheel velocity.
double	x_
	Position in x.
double	y_
	Position in y.
double	yaw_
	Yaw.

Detailed Description

Definition at line 57 of file RobChair.h.

Member Typedef Documentation

typedef enum RobChair::_CommonFunction RobChair::CommonFunction

Common functions.

typedef enum RobChair::_EncoderFunction RobChair::EncoderFunction

Encoder functions.

typedef enum RobChair::_PDriveFunction RobChair::PDriveFunction

PDrive functions.

typedef enum RobChair::_RobChairDS RobChair::RobChairDS

RobChair destinations and sources.

typedef enum RobChair::_TriggerFunction RobChair::TriggerFunction

Trigger functions.

Member Enumeration Documentation

enum RobChair::_CommonFunction

Common functions.

Enumerator:

TurnOff
TurnOn

Definition at line 77 of file RobChair.h.

enum RobChair::_EncoderFunction

Encoder functions.

Enumerator:

SetVelocityValue
SetEncoderControlMode
SetPIControlValues
ResetEncoderInformation
DataFromEncoder

Definition at line 94 of file RobChair.h.

enum RobChair::_PDriveFunction

PDrive functions.

Enumerator:

SetDACCommand
SetPDriveControlMode
DataFromMotor

Definition at line 85 of file RobChair.h.

enum RobChair::_RobChairDS

RobChair destinations and sources.

Enumerator:

PC
RightPDrive
LeftPDrive
BothPDrives
RightEncoder
LeftEncoder
BothEncoders
Joystick
SyncMCU

Definition at line 62 of file RobChair.h.

enum RobChair::_TriggerFunction

Trigger functions.

Enumerator:

SyncronizeAllNodes

Definition at line 105 of file RobChair.h.

Constructor & Destructor Documentation

RobChair::RobChair ( )

RobChair constructor. This is the class constructor.

Returns:: none.

Definition at line 40 of file RobChair.cpp.

RobChair::~RobChair ( )

RobChair destructor.

This is the class destructor.

Definition at line 45 of file RobChair.cpp.

Member Function Documentation

void RobChair::decodeEncoderData	(	RobChairDS	encoder,
		const can_msgs::CANFrame::ConstPtr &	msg
	)		`[private]`

This function decodes the data sent from the encoders to the PC.

Parameters:

encoder	The source of the data, valid values are LeftEncoder and RightEncoder.
msg	The data to be decoded.

Definition at line 121 of file RobChair.cpp.

double RobChair::getAngularVelocity ( ) [inline]

Getter for the robot angular velocity.

Returns:: The robot angular velocity.

Definition at line 213 of file RobChair.h.

double RobChair::getLinearVelocity ( ) [inline]

Getter for the robot linear velocity.

Returns:: The robot linear velocity.

Definition at line 205 of file RobChair.h.

double RobChair::getPositionX ( ) [inline]

Getter for the robot x position.

Returns:: The robot x position.

Definition at line 181 of file RobChair.h.

double RobChair::getPositionY ( ) [inline]

Getter for the robot y position.

Returns:: The robot y position.

Definition at line 189 of file RobChair.h.

double RobChair::getYaw ( ) [inline]

Definition at line 197 of file RobChair.h.

void RobChair::initializeRobChair	(	ros::Publisher *	can_pub,
		double	kp = `0.0`,
		double	ki = `0.0`
	)

This function initializes the PDrives, the Encoders and the Trigger in the RobChair robot.

Parameters:

can_pub	The ROS publisher for the CAN topic.
kp	The proportional gain of the speed controller.
ki	The integral gain of the speed controller.

Definition at line 53 of file RobChair.cpp.

double RobChair::limitAngle ( double angle ) [private]

The angles must be contained between [-Pi, Pi].

Parameters:

angle The angle to be limited.

Definition at line 240 of file RobChair.cpp.

void RobChair::receivedCANFrame ( const can_msgs::CANFrame::ConstPtr & frame_msg )

Callback for incoming CAN frames.

Parameters:

msg	The incoming CAN frame.

Definition at line 196 of file RobChair.cpp.

void RobChair::resetEncoders ( ) [inline]

This function resets both encoders.

Definition at line 163 of file RobChair.h.

void RobChair::sendCANFrame	(	RobChairDS	destination,
		char	function,
		char *	data,
		int	data_count,
		char	n = `0`
	)		`[private]`

This functions sends CAN frames to the RobChair CAN bus.

Parameters:

destination	The destination device RobChairDS.
function	The desired function, PDriveFunction, EncoderFunction or TriggerFunction.
data	The data to be sent.
data_count	The number of bytes to be sent.
n	The trigger time slot to send the frame.

Definition at line 170 of file RobChair.cpp.

void RobChair::setPIControlValues	(	RobChairDS	destination,
		double	kp,
		double	ki
	)

This function allows to set the PID control gains for the RobChair speed controller.

Parameters:

destination	The destination PDrive, accepted values are LeftPDrive, RightPDrive and BothPDrives.
kp	The proportional gain of the speed controller.
ki	The integral gain of the speed controller.

Definition at line 85 of file RobChair.cpp.

void RobChair::setVelocities	(	double	linear_velocity,
		double	angular_velocity
	)

This function allows to send velocity commands to the velocity controllers.

Parameters:

linear_velocity	Linear velocity to the robot in m/s.
angular_velocity	Angular velocity to the robot in m/s.

Definition at line 99 of file RobChair.cpp.

void RobChair::setVelocity	(	RobChairDS	destination,
		double	velocity
	)		`[private]`

This function allows to set the velocity reference on the RobChair motor drivers.

Parameters:

destination	The destination device RobChairDS, valid values are LeftEncoder, RightEncoder and BothEncoders.
velocity	The reference velocity to the controller.

void RobChair::turnEncodersOff ( ) [inline, private]

This functions turns the Encoders on the RobChair OFF - Idle Mode.

Definition at line 279 of file RobChair.h.

void RobChair::turnEncodersOn ( ) [inline, private]

This functions turns the Encoders on the RobChair ON - Running Mode.

Definition at line 272 of file RobChair.h.

void RobChair::turnPDrivesOff ( ) [inline, private]

This functions turns the PDrives on the RobChair OFF - Idle Mode.

Definition at line 264 of file RobChair.h.

void RobChair::turnPDrivesOn ( ) [inline, private]

This functions turns the PDrives on the RobChair ON - Running Mode.

Definition at line 257 of file RobChair.h.

void RobChair::turnTriggerOff ( ) [inline, private]

This functions turns the Trigger on the RobChair OFF - Running Mode.

Definition at line 294 of file RobChair.h.

void RobChair::turnTriggerOn ( ) [inline, private]

This functions turns the Trigger on the RobChair ON - Running Mode.

Definition at line 287 of file RobChair.h.

Member Data Documentation

double RobChair::angular_velocity_ [private]

Angular velocity.

Definition at line 313 of file RobChair.h.

ros::Publisher* RobChair::can_pub_ [private]

CANopen bus ROS publisher.

Definition at line 298 of file RobChair.h.

bool RobChair::got_left_encoder_data_ [private]

Flag for left encoder data.

Definition at line 330 of file RobChair.h.

bool RobChair::got_right_encoder_data_ [private]

Flag for right encoder data.

Definition at line 332 of file RobChair.h.

double RobChair::last_left_wheel_position_ [private]

The last left wheel position.

Definition at line 326 of file RobChair.h.

double RobChair::last_right_wheel_position_ [private]

The last right wheel position.

Definition at line 328 of file RobChair.h.

double RobChair::left_wheel_position_ [private]

Left wheel position.

Definition at line 316 of file RobChair.h.

double RobChair::left_wheel_velocity_ [private]

Left wheel velocity.

Definition at line 318 of file RobChair.h.

double RobChair::linear_velocity_ [private]

Velocity in x.

Definition at line 311 of file RobChair.h.

char RobChair::n_ [private]

Current time slot sent by the trigger.

Definition at line 301 of file RobChair.h.

double RobChair::right_wheel_position_ [private]

Right wheel position.

Definition at line 320 of file RobChair.h.

double RobChair::right_wheel_velocity_ [private]

Right wheel velocity.

Definition at line 322 of file RobChair.h.

double RobChair::x_ [private]

Position in x.

Definition at line 305 of file RobChair.h.

double RobChair::y_ [private]

Position in y.

Definition at line 307 of file RobChair.h.

double RobChair::yaw_ [private]

Yaw.

Definition at line 309 of file RobChair.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation