volksbot.h
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00001 /*
00002  * Copyright (c) 2013, Osnabrueck University
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  * * Redistributions of source code must retain the above copyright notice,
00009  *   this list of conditions and the following disclaimer.
00010  * * Redistributions in binary form must reproduce the above copyright notice,
00011  *   this list of conditions and the following disclaimer in the documentation
00012  *   and/or other materials provided with the distribution.
00013  * * Neither the name of the Osnabrueck University nor the names of its
00014  *   contributors may be used to endorse or promote products derived from this
00015  *   software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef _VOLKSBOT_H_
00031 #define _VOLKSBOT_H_
00032 
00033 #include <Epos2.h>
00034 
00035 #include "comm.h"
00036 
00037 class Volksbot
00038 {
00039   public:
00040     Volksbot(
00041         Comm &comm,
00042         double wheel_radius,
00043         double axis_length,
00044         double turning_adaptation,
00045         int gear_ratio,
00046         int max_vel_l,
00047         int max_vel_r,
00048         int max_acc_l,
00049         int max_acc_r,
00050         bool drive_backwards);
00051     ~Volksbot();
00052     void set_wheel_speed(double _v_l_soll, double _v_r_soll);
00053     double get_max_vel();
00054     void odometry();
00055 
00056   private:
00057     CEpos2 epos2_left_;
00058     CEpos2 epos2_right_;
00059     Comm &comm_;
00060     double wheel_radius_;
00061     double axis_length_;
00062     double turning_adaptation_;
00063     int gear_ratio_;
00064     int max_vel_l_;
00065     int max_vel_r_;
00066     int max_acc_l_;
00067     int max_acc_r_;
00068 };
00069 
00070 #endif


volksbot_driver
Author(s): Jochen Sprickerhof
autogenerated on Mon Aug 14 2017 02:48:31