#include <math.h>
#include <stdio.h>
#include <strings.h>
#include <unistd.h>
#include <stdint.h>
#include <stdlib.h>
#include <time.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <sys/types.h>
#include <shvel-param.h>
#include <serial.h>
#include <param.h>
#include <control.h>
#include <command.h>
#include <utility.h>
#include <yprintf.h>
#include <odometry.h>
#include <ssm_spur_handler.h>
#include <ypspur.h>
#include <pthread.h>
Go to the source code of this file.
Functions | |
void | apply_motor_speed (SpurUserParamsPtr spur) |
void | apply_motor_torque (SpurUserParamsPtr spur) |
void | control_loop (void) |
void | control_loop_cleanup (void *data) |
double | gravity_compensation (OdometryPtr odm, SpurUserParamsPtr spur) |
void | init_control_thread (pthread_t *thread) |
int | motor_control (SpurUserParamsPtr spur) |
void | robot_speed (SpurUserParamsPtr spur) |
int | robot_speed_smooth (SpurUserParamsPtr spur) |
void | run_control (Odometry odometry, SpurUserParamsPtr spur) |
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) |
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.
void control_loop | ( | void | ) |
Definition at line 461 of file control_vehicle.c.
void control_loop_cleanup | ( | void * | data | ) |
Definition at line 455 of file control_vehicle.c.
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.
int motor_control | ( | SpurUserParamsPtr | spur | ) |
Definition at line 60 of file control_vehicle.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 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.