control.h File Reference

#include <command.h>
#include <odometry.h>

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Functions
void	apply_motor_speed (SpurUserParamsPtr spur)
void	apply_motor_torque (SpurUserParamsPtr spur)
double	circle_follow (OdometryPtr odm, SpurUserParamsPtr spur)
void	control_loop (void)
double	dist_pos (OdometryPtr odm, SpurUserParamsPtr spur)
SpurRunMode	get_run_mode (void)
double	gravity_compensation (OdometryPtr odm, SpurUserParamsPtr spur)
void	init_control_thread (pthread_t *thread)
double	line_follow (OdometryPtr odm, SpurUserParamsPtr spur)
int	motor_control (SpurUserParamsPtr spur)
double	orient (OdometryPtr odm, SpurUserParamsPtr spur)
double	regurator (double d, double q, double r, double v_max, double w_max, SpurUserParamsPtr spur)
void	robot_speed (SpurUserParamsPtr spur)
int	robot_speed_smooth (SpurUserParamsPtr spur)
void	run_control (Odometry odometry, SpurUserParamsPtr spur)
void	set_run_mode (SpurRunMode mode)
double	spin (OdometryPtr odm, SpurUserParamsPtr spur)
int	stop_line (OdometryPtr odm, SpurUserParamsPtr spur)
double	timeoptimal_servo (double err, double vel_max, double vel, double acc)
double	timeoptimal_servo2 (double err, double vel_max, double vel, double acc, double vel_end)
double	trans_q (double theta)
void	update_ref_speed (SpurUserParamsPtr spur)
void	wheel_angle (OdometryPtr odm, SpurUserParamsPtr spur)
void	wheel_torque (OdometryPtr odm, SpurUserParamsPtr spur, double *torque)
void	wheel_vel (OdometryPtr odm, SpurUserParamsPtr spur)

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Function Documentation

void apply_motor_speed

(

SpurUserParamsPtr

spur

)

Definition at line 137 of file control_vehicle.c.

void apply_motor_torque

(

SpurUserParamsPtr

spur

)

Definition at line 208 of file control_vehicle.c.

double circle_follow	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 64 of file control_motion.c.

void control_loop

(

void

)

Definition at line 461 of file control_vehicle.c.

double dist_pos	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 172 of file control_motion.c.

SpurRunMode get_run_mode

(

void

)

double gravity_compensation	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 439 of file control_vehicle.c.

void init_control_thread

(

pthread_t *

thread

)

Definition at line 654 of file control_vehicle.c.

double line_follow	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 90 of file control_motion.c.

int motor_control

(

SpurUserParamsPtr

spur

)

Definition at line 60 of file control_vehicle.c.

double orient	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 153 of file control_motion.c.

double regurator	(	double	d,
		double	q,
		double	r,
		double	v_max,
		double	w_max,
		SpurUserParamsPtr	spur
	)

Definition at line 103 of file control_motion.c.

void robot_speed

(

SpurUserParamsPtr

spur

)

Definition at line 244 of file control_vehicle.c.

int robot_speed_smooth

(

SpurUserParamsPtr

spur

)

Definition at line 335 of file control_vehicle.c.

void run_control	(	Odometry	odometry,
		SpurUserParamsPtr	spur
	)

Definition at line 511 of file control_vehicle.c.

void set_run_mode

(

SpurRunMode

mode

)

double spin	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 134 of file control_motion.c.

int stop_line	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 181 of file control_motion.c.

double timeoptimal_servo	(	double	err,
		double	vel_max,
		double	vel,
		double	acc
	)

Definition at line 224 of file control_motion.c.

double timeoptimal_servo2	(	double	err,
		double	vel_max,
		double	vel,
		double	acc,
		double	vel_end
	)

Definition at line 253 of file control_motion.c.

double trans_q

(

double

theta

)

Definition at line 54 of file control_motion.c.

void update_ref_speed

(

SpurUserParamsPtr

spur

)

Definition at line 229 of file control_vehicle.c.

void wheel_angle	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 297 of file control_vehicle.c.

void wheel_torque	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur,
		double *	torque
	)

Definition at line 315 of file control_vehicle.c.

void wheel_vel	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 279 of file control_vehicle.c.