base_motor_driver.h File Reference

Driver for the motors of the mobile base. More...

#include <fcntl.h>
#include <cmath>
#include <cstring>
#include <sys/sem.h>
#include <termios.h>
#include <ros/ros.h>
#include "maggie_data.h"

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Classes
class	BaseMotor
struct	cinematic_data
Defines
#define	BAUDRATE   B19200
#define	DEVICE_NAME1   "/dev/motor_base2"
#define	DEVICE_NAME2   "/dev/motor_base1"
#define	PERIOD   0.060
#define	SEM_FILENAME   "/tmp/sem"
#define	SIZE_REPORT_GST   8
Variables
key_t	SEMFDID

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Detailed Description

Driver for the motors of the mobile base.

Important data: Max velocity: 3600 rpm, with a reduction of 36:1 -> 100 rpm, to seconds is 1.667 rps. Wheel diameter: 163.9 mm, max velocity -> 163.9 mm * PI / rev * 1.667 rev/sec = 858.17 mm/seg Wheels distance: 30cm, max velocity of rotation -> 13 rad/sec or 745 degrees/sec

Author:

Raul Perula-Martinez <raul.perula@uc3m.es>

Date:

2015-02

Author:

Rafael Rivas Estrada <rafael@ula.ve>

Date:

2006-05

Copyright:

Copyright (C) 2015 University Carlos III of Madrid. All rights reserved. LEUC3M v1.0, see LICENSE.txt

This program is free software: you can redistribute it and/or modify it under the terms of the Licencia Educativa UC3M as published by the University Carlos III of Madrid, either version 1.0, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY. See the Licencia Educativa UC3M version 1.0 or any later version for more details.

A copy of the Licencia Educativa UC3M is in the LICENSE file.

Definition in file base_motor_driver.h.

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Define Documentation

#define BAUDRATE   B19200

Definition at line 52 of file base_motor_driver.h.

#define DEVICE_NAME1   "/dev/motor_base2"

Definition at line 44 of file base_motor_driver.h.

#define DEVICE_NAME2   "/dev/motor_base1"

Definition at line 45 of file base_motor_driver.h.

#define PERIOD   0.060

Definition at line 55 of file base_motor_driver.h.

#define SEM_FILENAME   "/tmp/sem"

Definition at line 48 of file base_motor_driver.h.

#define SIZE_REPORT_GST   8

Definition at line 58 of file base_motor_driver.h.

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Variable Documentation

key_t SEMFDID

Definition at line 49 of file base_motor_driver.h.