#include <odom_control.hpp>

Public Member Functions
	OdomControl ()

	OdomControl (bool use_control, PidGains pid_gains, int max, int min, std::ofstream *fs)

	OdomControl (bool use_control, PidGains pid_gains, int max, int min)

void	reset ()

unsigned char	run (bool e_stop_on, bool control_on, double commanded_vel, double measured_vel, double dt, int firmwareBuildNumber)

void	start (bool use_control, PidGains pid_gains, int max, int min)

Public Attributes
bool	at_max_motor_speed_

bool	at_min_motor_speed_

unsigned char	deadband_offset_

double	differential_error_

std::ofstream *	fs_

double	integral_error_

double	K_D_

double	K_I_

double	K_P_

double	MAX_ACCEL_CUTOFF_

double	MAX_VELOCITY_

double	MIN_VELOCITY_

int	MOTOR_DEADBAND_

int	MOTOR_MAX_

int	MOTOR_MIN_

int	motor_speed_

bool	skip_measurement_

bool	stop_integrating_

bool	use_control_

double	velocity_commanded_

bool	velocity_control_on_

double	velocity_error_

double	velocity_filtered_

std::vector< double >	velocity_filtered_history_

std::vector< double >	velocity_history_

double	velocity_measured_

Private Member Functions
int	boundMotorSpeed (int motor_speed, int max, int min)

double	D (double error, double dt)

int	deadbandOffset (int motor_speed, int deadband_offset)

int	feedThroughControl ()

double	filter (double left_motor_vel, double dt, int firmwareBuildNumber)

bool	hasZeroHistory (const std::vector< double > &vel_history)

double	I (double error, double dt)

double	P (double error, double dt)

int	PID (double error, double dt)

void	velocityController ()

Detailed Description

Definition at line 11 of file odom_control.hpp.

Constructor & Destructor Documentation

◆ OdomControl() [1/3]

openrover::OdomControl::OdomControl ( )

Definition at line 21 of file odom_control.cpp.

◆ OdomControl() [2/3]

openrover::OdomControl::OdomControl	(	bool	use_control,
		PidGains	pid_gains,
		int	max,
		int	min,
		std::ofstream *	fs
	)

Definition at line 48 of file odom_control.cpp.

◆ OdomControl() [3/3]

openrover::OdomControl::OdomControl	(	bool	use_control,
		PidGains	pid_gains,
		int	max,
		int	min
	)

Definition at line 80 of file odom_control.cpp.

Member Function Documentation

◆ boundMotorSpeed()

int openrover::OdomControl::boundMotorSpeed	(	int	motor_speed,
		int	max,
		int	min
	)

private

Definition at line 240 of file odom_control.cpp.

◆ D()

double openrover::OdomControl::D	(	double	error,
		double	dt
	)

private

Definition at line 210 of file odom_control.cpp.

◆ deadbandOffset()

int openrover::OdomControl::deadbandOffset	(	int	motor_speed,
		int	deadband_offset
	)

private

Definition at line 263 of file odom_control.cpp.

◆ feedThroughControl()

int openrover::OdomControl::feedThroughControl ( )

private

Definition at line 171 of file odom_control.cpp.

◆ filter()

double openrover::OdomControl::filter	(	double	left_motor_vel,
		double	dt,
		int	firmwareBuildNumber
	)

private

Definition at line 276 of file odom_control.cpp.

◆ hasZeroHistory()

bool openrover::OdomControl::hasZeroHistory ( const std::vector< double > & vel_history )

private

Definition at line 231 of file odom_control.cpp.

◆ I()

double openrover::OdomControl::I	(	double	error,
		double	dt
	)

private

Definition at line 216 of file odom_control.cpp.

◆ P()

double openrover::OdomControl::P	(	double	error,
		double	dt
	)

private

Definition at line 225 of file odom_control.cpp.

◆ PID()

int openrover::OdomControl::PID	(	double	error,
		double	dt
	)

private

Definition at line 188 of file odom_control.cpp.

◆ reset()

void openrover::OdomControl::reset ( )

Definition at line 176 of file odom_control.cpp.

◆ run()

unsigned char openrover::OdomControl::run	(	bool	e_stop_on,
		bool	control_on,
		double	commanded_vel,
		double	measured_vel,
		double	dt,
		int	firmwareBuildNumber
	)

Definition at line 110 of file odom_control.cpp.

◆ start()

void openrover::OdomControl::start	(	bool	use_control,
		PidGains	pid_gains,
		int	max,
		int	min
	)

Definition at line 14 of file odom_control.cpp.

◆ velocityController()

void openrover::OdomControl::velocityController ( )

private

Member Data Documentation

◆ at_max_motor_speed_

bool openrover::OdomControl::at_max_motor_speed_

Definition at line 36 of file odom_control.hpp.

◆ at_min_motor_speed_

bool openrover::OdomControl::at_min_motor_speed_

Definition at line 37 of file odom_control.hpp.

◆ deadband_offset_

unsigned char openrover::OdomControl::deadband_offset_

Definition at line 53 of file odom_control.hpp.

◆ differential_error_

double openrover::OdomControl::differential_error_

Definition at line 48 of file odom_control.hpp.

◆ fs_

std::ofstream* openrover::OdomControl::fs_

Definition at line 41 of file odom_control.hpp.

◆ integral_error_

double openrover::OdomControl::integral_error_

Definition at line 47 of file odom_control.hpp.

◆ K_D_

double openrover::OdomControl::K_D_

Definition at line 46 of file odom_control.hpp.

◆ K_I_

double openrover::OdomControl::K_I_

Definition at line 45 of file odom_control.hpp.

◆ K_P_

double openrover::OdomControl::K_P_

Definition at line 44 of file odom_control.hpp.

◆ MAX_ACCEL_CUTOFF_

double openrover::OdomControl::MAX_ACCEL_CUTOFF_

Definition at line 29 of file odom_control.hpp.

◆ MAX_VELOCITY_

double openrover::OdomControl::MAX_VELOCITY_

Definition at line 31 of file odom_control.hpp.

◆ MIN_VELOCITY_

double openrover::OdomControl::MIN_VELOCITY_

Definition at line 30 of file odom_control.hpp.

◆ MOTOR_DEADBAND_

int openrover::OdomControl::MOTOR_DEADBAND_

Definition at line 27 of file odom_control.hpp.

◆ MOTOR_MAX_

int openrover::OdomControl::MOTOR_MAX_

Definition at line 25 of file odom_control.hpp.

◆ MOTOR_MIN_

int openrover::OdomControl::MOTOR_MIN_

Definition at line 26 of file odom_control.hpp.

◆ motor_speed_

int openrover::OdomControl::motor_speed_

Definition at line 52 of file odom_control.hpp.

◆ skip_measurement_

bool openrover::OdomControl::skip_measurement_

Definition at line 62 of file odom_control.hpp.

◆ stop_integrating_

bool openrover::OdomControl::stop_integrating_

Definition at line 38 of file odom_control.hpp.

◆ use_control_

bool openrover::OdomControl::use_control_

Definition at line 33 of file odom_control.hpp.

◆ velocity_commanded_

double openrover::OdomControl::velocity_commanded_

Definition at line 56 of file odom_control.hpp.

◆ velocity_control_on_

bool openrover::OdomControl::velocity_control_on_

Definition at line 61 of file odom_control.hpp.

◆ velocity_error_

double openrover::OdomControl::velocity_error_

Definition at line 49 of file odom_control.hpp.

◆ velocity_filtered_

double openrover::OdomControl::velocity_filtered_

Definition at line 58 of file odom_control.hpp.

◆ velocity_filtered_history_

std::vector<double> openrover::OdomControl::velocity_filtered_history_

Definition at line 59 of file odom_control.hpp.

◆ velocity_history_

std::vector<double> openrover::OdomControl::velocity_history_

Definition at line 60 of file odom_control.hpp.

◆ velocity_measured_

double openrover::OdomControl::velocity_measured_

Definition at line 57 of file odom_control.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ OdomControl() [1/3]

◆ OdomControl() [2/3]

◆ OdomControl() [3/3]

Member Function Documentation

◆ boundMotorSpeed()

◆ D()

◆ deadbandOffset()

◆ feedThroughControl()

◆ filter()

◆ hasZeroHistory()

◆ I()

◆ P()

◆ PID()

◆ reset()

◆ run()

◆ start()

◆ velocityController()

Member Data Documentation

◆ at_max_motor_speed_

◆ at_min_motor_speed_

◆ deadband_offset_

◆ differential_error_

◆ fs_

◆ integral_error_

◆ K_D_

◆ K_I_

◆ K_P_

◆ MAX_ACCEL_CUTOFF_

◆ MAX_VELOCITY_

◆ MIN_VELOCITY_

◆ MOTOR_DEADBAND_

◆ MOTOR_MAX_

◆ MOTOR_MIN_

◆ motor_speed_

◆ skip_measurement_

◆ stop_integrating_

◆ use_control_

◆ velocity_commanded_

◆ velocity_control_on_

◆ velocity_error_

◆ velocity_filtered_

◆ velocity_filtered_history_

◆ velocity_history_

◆ velocity_measured_