#include <BaseController.h>
Public Member Functions | |
| BaseController (RobotState *state, CanListener *canListener1) | |
| double | calculateAdapter (double required_velocity, double real_velocity, double adapter) |
| void | run () |
| void | setTargetVelocity (const geometry_msgs::Twist &twist) |
Private Member Functions | |
| float | calculateVelocity (bool left, float speed, float velocity_old) |
| bool | enableMotor (int ax10420) |
| int | initAX10420 () |
| void | writeDataToCan (float vleft, float vright, float max_speed) |
Private Attributes | |
| CanListener * | canListener |
| geometry_msgs::Twist | cmd |
| boost::mutex | mutex |
| RobotState * | state |
Copyright (c) 2016, Aumann Florian, Borella Jocelyn, Dehmani Souheil, Marek Felix, Meißner Pascal, Reckling Reno
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. Get drive/velocity commends from ros. Transfrom and send them to CAN.
Definition at line 31 of file BaseController.h.
| BaseController::BaseController | ( | RobotState * | state, |
| CanListener * | canListener1 | ||
| ) | [inline] |
Definition at line 52 of file BaseController.h.
| double BaseController::calculateAdapter | ( | double | required_velocity, |
| double | real_velocity, | ||
| double | adapter | ||
| ) |
Calculate the adaptation, which needed if required velocity and real velocity is different.
| required_velocity | calculate velocity from ROS and adjusted for CAN. [cm/s] |
| real_velocity | velocity from the CAN (CanListener). [cm/s] |
| adapter | adaptation value which is updated. |
Definition at line 226 of file BaseController.cpp.
| float BaseController::calculateVelocity | ( | bool | left, |
| float | speed, | ||
| float | velocity_old | ||
| ) | [private] |
Definition at line 107 of file BaseController.cpp.
| bool BaseController::enableMotor | ( | int | ax10420 | ) | [private] |
Definition at line 87 of file BaseController.cpp.
| int BaseController::initAX10420 | ( | ) | [private] |
Definition at line 45 of file BaseController.cpp.
| void BaseController::run | ( | ) |
This function handles all the mild_base_driving bus/motor/relais board related stuff. Gets the messages from ros and transform them to can-commands.
Definition at line 128 of file BaseController.cpp.
| void BaseController::setTargetVelocity | ( | const geometry_msgs::Twist & | twist | ) |
This function is triggered when a Twist message is received.
Definition at line 256 of file BaseController.cpp.
| void BaseController::writeDataToCan | ( | float | vleft, |
| float | vright, | ||
| float | max_speed | ||
| ) | [private] |
Definition at line 60 of file BaseController.cpp.
CanListener* BaseController::canListener [private] |
Definition at line 36 of file BaseController.h.
geometry_msgs::Twist BaseController::cmd [private] |
Definition at line 39 of file BaseController.h.
boost::mutex BaseController::mutex [private] |
Definition at line 37 of file BaseController.h.
RobotState* BaseController::state [private] |
Definition at line 35 of file BaseController.h.