#include <BaseController.h>

Public Member Functions
	BaseController (RobotState state, CanListener canListener1)

double	calculateAdapter (double required_velocity, double real_velocity, double adapter)

void	run ()

void	setTargetVelocity (const geometry_msgs::Twist &twist)

Private Member Functions
float	calculateVelocity (bool left, float speed, float velocity_old)

bool	enableMotor (int ax10420)

int	initAX10420 ()

void	writeDataToCan (float vleft, float vright, float max_speed)

Private Attributes
CanListener *	canListener

geometry_msgs::Twist	cmd

boost::mutex	mutex

RobotState *	state

Detailed Description

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/. Get drive/velocity commends from ros. Transfrom and send them to CAN.

Definition at line 31 of file BaseController.h.

Constructor & Destructor Documentation

BaseController::BaseController	(	RobotState *	state,
		CanListener *	canListener1
	)

inline

Definition at line 52 of file BaseController.h.

Member Function Documentation

double BaseController::calculateAdapter	(	double	required_velocity,
		double	real_velocity,
		double	adapter
	)

Calculate the adaptation, which needed if required velocity and real velocity is different.

Parameters

required_velocity	calculate velocity from ROS and adjusted for CAN. [cm/s]
real_velocity	velocity from the CAN (CanListener). [cm/s]
adapter	adaptation value which is updated.

Definition at line 226 of file BaseController.cpp.

float BaseController::calculateVelocity	(	bool	left,
		float	speed,
		float	velocity_old
	)

private

Definition at line 107 of file BaseController.cpp.

bool BaseController::enableMotor ( int ax10420 )

private

Definition at line 87 of file BaseController.cpp.

int BaseController::initAX10420 ( )

private

Definition at line 45 of file BaseController.cpp.

void BaseController::run ( )

This function handles all the mild_base_driving bus/motor/relais board related stuff. Gets the messages from ros and transform them to can-commands.

Definition at line 128 of file BaseController.cpp.

void BaseController::setTargetVelocity ( const geometry_msgs::Twist & twist )

This function is triggered when a Twist message is received.

Definition at line 256 of file BaseController.cpp.

void BaseController::writeDataToCan	(	float	vleft,
		float	vright,
		float	max_speed
	)

private

Definition at line 60 of file BaseController.cpp.

Member Data Documentation

CanListener* BaseController::canListener

private

Definition at line 36 of file BaseController.h.

geometry_msgs::Twist BaseController::cmd

private

Definition at line 39 of file BaseController.h.

boost::mutex BaseController::mutex

private

Definition at line 37 of file BaseController.h.

RobotState* BaseController::state

private

Definition at line 35 of file BaseController.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation