base_controller.h File Reference

#include <ros.h>
#include <diffbot_msgs/EncodersStamped.h>
#include <diffbot_msgs/WheelsCmdStamped.h>
#include <diffbot_msgs/AngularVelocities.h>
#include <diffbot_msgs/PIDStamped.h>
#include <std_msgs/Empty.h>
#include <sensor_msgs/JointState.h>
#include "diffbot_base_config.h"
#include "encoder_diffbot.h"
#include "adafruit_feather_wing/adafruit_feather_wing.h"
#include "pid.h"

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Classes
class	diffbot::BaseController< TMotorController, TMotorDriver >
	Communicates with the high level hardware_interface::RobotHW and interacts with the robot hardware sensors (e.g. encoders) and actuators (e.g. motor driver). More...
struct	diffbot::BaseController< TMotorController, TMotorDriver >::LastUpdateTime
	Keeps track of the last update times. More...
struct	diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate::Period
	Inverse of the update rates for control, (optional) imu and debug output. More...
struct	diffbot::BaseController< TMotorController, TMotorDriver >::UpdateRate
	Stores update rate frequencies (Hz) for the main control loop, (optinal) imu and debug output. More...

Namespaces
	diffbot

Typedefs
template<typename TMotorController , typename TMotorDriver >
using	BC = diffbot::BaseController< TMotorController, TMotorDriver >

Typedef Documentation

BC

template<typename TMotorController , typename TMotorDriver >

using BC = diffbot::BaseController<TMotorController, TMotorDriver>

Definition at line 380 of file base_controller.h.