#include <ThirdRobotInterface.h>

Public Member Functions
virtual void	calculateOdometry ()
	Calculate Third robot odometry. Call after reading encoder pulses.
virtual int	closeSerialPort ()
	Close the serial port.
virtual geometry_msgs::Twist	drive (double linear_speed, double angular_speed)
	Drive.
virtual geometry_msgs::Twist	driveDirect (double front_angular, double rear_speed)
	Drive direct.
virtual int	getEncoderPacket ()
	Read the encoder pulses from iMCs01.
virtual int	openSerialPort ()
	Open the serial port.
virtual void	resetOdometry ()
	Reset Third robot odometry.
virtual void	setOdometry (double new_x, double new_y, double new_yaw)
	Set new odometry.
virtual void	setParams (double pulse_rate, double geer_rate, double wheel_diameter_right, double wheel_diameter_left, double tred_width)
	Setting params.
virtual int	setSerialPort ()
	Setting the serial port.
	ThirdRobotInterface (const std::string &new_serial_port_imcs01, int new_baudrate_imcs01)
	Constructor.
virtual void	writeCmd (ccmd cmd)
	write to iMCs01 (ccmd)
	~ThirdRobotInterface ()
	Destructor.
Public Attributes
double	odometry_x_
	robot odometry x[m]
double	odometry_y_
	robot odometry y[m]
double	odometry_yaw_
	robot odometry yaw[rad]
int	stasis_
	Robot running status.
double	steer_angle
	Front steer angle[deg].
Protected Member Functions
geometry_msgs::Twist	fixFrontAngle (double angular_diff)
int	parseEncoderPackets ()
	Parse data.
int	parseFrontEncoderCounts ()
int	parseRearEncoderCounts ()
Protected Attributes
int	baudrate_imcs01
	Baudrate.
struct ccmd	cmd_ccmd
struct uin	cmd_uin
	For access to iMCs01.
std::mutex	communication_mutex_
	Mutex for communication.
double	delta_rear_encoder_time
	Delta time.
int	fd_imcs01
	File descriptor.
double	GeerRate = 33.0
	GEER_RATE.
std::string	imcs01_port_name
	Serial port to which the robot is connected.
double	last_odometry_yaw = 0.0
	[k-1]のyaw
double	last_rear_encoder_time
	Last time reading encoder.
double	linear_velocity
	Linear velocity.
termios	newtio_imcs01
termios	oldtio_imcs01
	Old and new termios struct.
double	PulseRate = 40.0
	num of pulse
int	runmode
	Forward or Back mode flag.
double	TredWidth = 0.595
	Wheel Diameter[m].

Detailed Description

Definition at line 67 of file ThirdRobotInterface.h.

Constructor & Destructor Documentation

cirkit::ThirdRobotInterface::ThirdRobotInterface	(	const std::string &	new_serial_port_imcs01,
		int	new_baudrate_imcs01
	)

Constructor.

Definition at line 31 of file ThirdRobotInterface.cpp.

cirkit::ThirdRobotInterface::~ThirdRobotInterface ( )

Destructor.

Member Function Documentation

virtual void cirkit::ThirdRobotInterface::calculateOdometry ( ) [virtual]

Calculate Third robot odometry. Call after reading encoder pulses.

virtual int cirkit::ThirdRobotInterface::closeSerialPort ( ) [virtual]

Close the serial port.

virtual geometry_msgs::Twist cirkit::ThirdRobotInterface::drive	(	double	linear_speed,
		double	angular_speed
	)		`[virtual]`

Drive.

virtual geometry_msgs::Twist cirkit::ThirdRobotInterface::driveDirect	(	double	front_angular,
		double	rear_speed
	)		`[virtual]`

Drive direct.

geometry_msgs::Twist cirkit::ThirdRobotInterface::fixFrontAngle ( double angular_diff ) [protected]

virtual int cirkit::ThirdRobotInterface::getEncoderPacket ( ) [virtual]

Read the encoder pulses from iMCs01.

virtual int cirkit::ThirdRobotInterface::openSerialPort ( ) [virtual]

Open the serial port.

int cirkit::ThirdRobotInterface::parseEncoderPackets ( ) [protected]

Parse data.

Data parsing function. Parses data comming from iMCs01.

Parameters:

buffer Data to be parsed.

Returns:: 0 if ok, -1 otherwise.

int cirkit::ThirdRobotInterface::parseFrontEncoderCounts ( ) [protected]

int cirkit::ThirdRobotInterface::parseRearEncoderCounts ( ) [protected]

virtual void cirkit::ThirdRobotInterface::resetOdometry ( ) [virtual]

Reset Third robot odometry.

virtual void cirkit::ThirdRobotInterface::setOdometry	(	double	new_x,
		double	new_y,
		double	new_yaw
	)		`[virtual]`

Set new odometry.

virtual void cirkit::ThirdRobotInterface::setParams	(	double	pulse_rate,
		double	geer_rate,
		double	wheel_diameter_right,
		double	wheel_diameter_left,
		double	tred_width
	)		`[virtual]`