00001 /* 00002 * Copyright (c) 2013, Osnabrueck University 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright notice, 00009 * this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright notice, 00011 * this list of conditions and the following disclaimer in the documentation 00012 * and/or other materials provided with the distribution. 00013 * * Neither the name of the Osnabrueck University nor the names of its 00014 * contributors may be used to endorse or promote products derived from this 00015 * software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef _VOLKSBOT_H_ 00031 #define _VOLKSBOT_H_ 00032 00033 #include <Epos2.h> 00034 00035 #include "comm.h" 00036 00037 class Volksbot 00038 { 00039 public: 00040 Volksbot( 00041 Comm &comm, 00042 double wheel_radius, 00043 double axis_length, 00044 double turning_adaptation, 00045 int gear_ratio, 00046 int max_vel_l, 00047 int max_vel_r, 00048 int max_acc_l, 00049 int max_acc_r, 00050 bool drive_backwards); 00051 ~Volksbot(); 00052 void set_wheel_speed(double _v_l_soll, double _v_r_soll); 00053 double get_max_vel(); 00054 void odometry(); 00055 00056 private: 00057 CEpos2 epos2_left_; 00058 CEpos2 epos2_right_; 00059 Comm &comm_; 00060 double wheel_radius_; 00061 double axis_length_; 00062 double turning_adaptation_; 00063 int gear_ratio_; 00064 int max_vel_l_; 00065 int max_vel_r_; 00066 int max_acc_l_; 00067 int max_acc_r_; 00068 }; 00069 00070 #endif