Kurt Class Reference

#include <kurt.h>

List of all members.

Public Member Functions
int	can_motor (int left_pwm, char left_dir, char left_brake, int right_pwm, char right_dir, char right_brake)
int	can_read_fifo ()
void	can_rotunit_send (double speed)
	Kurt (Comm &comm, double wheel_perimeter, double axis_length, double turning_adaptation, int ticks_per_turn_of_wheel)
void	set_wheel_speed (double _v_l_soll, double _v_r_soll, double _AntiWindup)
bool	setPWMData (const std::string &speedPwmLeerlaufTable, double feedforward_turn, double ki, double kp)
	~Kurt ()
Private Member Functions
void	can_encoder (const can_frame &frame)
void	can_gyro_mc1 (const can_frame &frame)
void	can_rotunit (const can_frame &frame)
void	can_sonar0_3 (const can_frame &frame)
void	can_sonar4_7 (const can_frame &frame)
void	can_sonar8_9 (const can_frame &frame)
void	can_tilt_comp (const can_frame &frame)
void	k_hard_stop (void)
void	make_pwm_v_tab (int nr, double *v_pwm_l, double *v_pwm_r, int nr_v, int **pwm_v_l, int **pwm_v_r, double *v_max)
int	normalize_ir (int ir)
int	normalize_sonar (int s)
void	odometry (int wheel_a, int wheel_b)
bool	read_speed_to_pwm_leerlauf_tabelle (const std::string &filename, int *nr, double **v_pwm_l, double **v_pwm_r)
void	set_wheel_speed1 (double v_l, double v_r, int integration_l, int integration_r)
void	set_wheel_speed2 (double _v_l_soll, double _v_r_soll, double _v_l_ist, double _v_r_ist, double _omega, double _AntiWindup)
void	set_wheel_speed2_mc (double _v_l_soll, double _v_r_soll, double _omega, double _AntiWindup)
Private Attributes
double	axis_length_
CAN	can_
Comm &	comm_
double	feedforward_turn_
double	ki_l
double	ki_r
double	kp_l
double	kp_r
int	leerlauf_adapt_
const int	nr_v_
int *	pwm_v_l_
int *	pwm_v_r_
int	ticks_per_turn_of_wheel_
double	turning_adaptation_
bool	use_microcontroller_
bool	use_rotunit_
double	v_encoder_left_
double	v_encoder_right_
double	vmax_
double	wheel_perimeter_

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Detailed Description

Definition at line 51 of file kurt.h.

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Constructor & Destructor Documentation

Kurt::Kurt	(	Comm &	comm,
		double	wheel_perimeter,
		double	axis_length,
		double	turning_adaptation,
		int	ticks_per_turn_of_wheel
	)		[inline]

Definition at line 54 of file kurt.h.

Kurt::~Kurt

(

)

Definition at line 14 of file kurt.cc.

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Member Function Documentation

void Kurt::can_encoder

(

const can_frame &

frame

)

[private]

Definition at line 514 of file kurt.cc.

void Kurt::can_gyro_mc1

(

const can_frame &

frame

)

[private]

Definition at line 597 of file kurt.cc.

int Kurt::can_motor	(	int	left_pwm,
		char	left_dir,
		char	left_brake,
		int	right_pwm,
		char	right_dir,
		char	right_brake
	)

Definition at line 45 of file kurt.cc.

int Kurt::can_read_fifo

(

)

Definition at line 637 of file kurt.cc.

void Kurt::can_rotunit

(

const can_frame &

frame

)

[private]

Definition at line 505 of file kurt.cc.

void Kurt::can_rotunit_send

(

double

speed

)

Definition at line 480 of file kurt.cc.

void Kurt::can_sonar0_3

(

const can_frame &

frame

)

[private]

Definition at line 565 of file kurt.cc.

void Kurt::can_sonar4_7

(

const can_frame &

frame

)

[private]

Definition at line 555 of file kurt.cc.

void Kurt::can_sonar8_9

(

const can_frame &

frame

)

[private]

Definition at line 548 of file kurt.cc.

void Kurt::can_tilt_comp

(

const can_frame &

frame

)

[private]

Definition at line 574 of file kurt.cc.

void Kurt::k_hard_stop

(

void

)

[private]

Definition at line 71 of file kurt.cc.

void Kurt::make_pwm_v_tab	(	int	nr,
		double *	v_pwm_l,
		double *	v_pwm_r,
		int	nr_v,
		int **	pwm_v_l,
		int **	pwm_v_r,
		double *	v_max
	)		[private]

Definition at line 362 of file kurt.cc.

int Kurt::normalize_ir

(

int

ir

)

[private]

Definition at line 530 of file kurt.cc.

int Kurt::normalize_sonar

(

int

s

)

[private]

Definition at line 539 of file kurt.cc.

void Kurt::odometry	(	int	wheel_a,
		int	wheel_b
	)		[private]

Definition at line 418 of file kurt.cc.

bool Kurt::read_speed_to_pwm_leerlauf_tabelle	(	const std::string &	filename,
		int *	nr,
		double **	v_pwm_l,
		double **	v_pwm_r
	)		[private]

Definition at line 327 of file kurt.cc.

void Kurt::set_wheel_speed	(	double	_v_l_soll,
		double	_v_r_soll,
		double	_AntiWindup
	)

Definition at line 312 of file kurt.cc.

void Kurt::set_wheel_speed1	(	double	v_l,
		double	v_r,
		int	integration_l,
		int	integration_r
	)		[private]

Definition at line 91 of file kurt.cc.

void Kurt::set_wheel_speed2	(	double	_v_l_soll,
		double	_v_r_soll,
		double	_v_l_ist,
		double	_v_r_ist,
		double	_omega,
		double	_AntiWindup
	)		[private]

Definition at line 134 of file kurt.cc.

void Kurt::set_wheel_speed2_mc	(	double	_v_l_soll,
		double	_v_r_soll,
		double	_omega,
		double	_AntiWindup
	)		[private]

Definition at line 278 of file kurt.cc.

bool Kurt::setPWMData	(	const std::string &	speedPwmLeerlaufTable,
		double	feedforward_turn,
		double	ki,
		double	kp
	)

Definition at line 26 of file kurt.cc.

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Member Data Documentation

double Kurt::axis_length_ [private]

Definition at line 88 of file kurt.h.

CAN Kurt::can_ [private]

Definition at line 83 of file kurt.h.

Comm& Kurt::comm_ [private]

Definition at line 84 of file kurt.h.

double Kurt::feedforward_turn_ [private]

Definition at line 102 of file kurt.h.

double Kurt::ki_l [private]

Definition at line 100 of file kurt.h.

double Kurt::ki_r [private]

Definition at line 100 of file kurt.h.

double Kurt::kp_l [private]

Definition at line 99 of file kurt.h.

double Kurt::kp_r [private]

Definition at line 99 of file kurt.h.

int Kurt::leerlauf_adapt_ [private]

Definition at line 101 of file kurt.h.

const int Kurt::nr_v_ [private]

Definition at line 96 of file kurt.h.

int* Kurt::pwm_v_l_ [private]

Definition at line 98 of file kurt.h.

int * Kurt::pwm_v_r_ [private]

Definition at line 98 of file kurt.h.

int Kurt::ticks_per_turn_of_wheel_ [private]

Definition at line 90 of file kurt.h.

double Kurt::turning_adaptation_ [private]

Definition at line 89 of file kurt.h.

bool Kurt::use_microcontroller_ [private]

Definition at line 92 of file kurt.h.

bool Kurt::use_rotunit_ [private]

Definition at line 93 of file kurt.h.

double Kurt::v_encoder_left_ [private]

Definition at line 104 of file kurt.h.

double Kurt::v_encoder_right_ [private]

Definition at line 104 of file kurt.h.

double Kurt::vmax_ [private]

Definition at line 97 of file kurt.h.

double Kurt::wheel_perimeter_ [private]

Definition at line 87 of file kurt.h.

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

• kurt.h
• kurt.cc