#include <odom_control.hpp>

Public Member Functions
	OdomControl ()

	OdomControl (bool use_control, PidGains pid_gains, int max, int min, std::string log_filename)

	OdomControl (bool use_control, PidGains pid_gains, int max, int min)

void	reset ()

unsigned char	run (bool e_stop_on, bool control_on, double commanded_vel, double measured_vel, double dt)

void	start (bool use_control, PidGains pid_gains, int max, int min)

Public Attributes
bool	at_max_motor_speed_

bool	at_min_motor_speed_

unsigned char	deadband_offset_

bool	enable_file_logging_

std::ofstream	fs_

double	integral_value_

double	K_D_

double	K_I_

double	K_P_

std::string	log_filename_

const double	MAX_ACCEL_CUTOFF_

const double	MAX_VELOCITY_

const double	MIN_VELOCITY_

const int	MOTOR_DEADBAND_

const int	MOTOR_MAX_

const int	MOTOR_MIN_

int	motor_speed_

bool	skip_measurement_

bool	stop_integrating_

bool	use_control_

double	velocity_commanded_

bool	velocity_control_on_

double	velocity_error_

double	velocity_filtered_

std::vector< double >	velocity_history_

double	velocity_measured_

Private Member Functions
int	boundMotorSpeed (int motor_speed, int max, int min)

double	D (double error, double dt)

int	deadbandOffset (int motor_speed, int deadband_offset)

int	feedThroughControl ()

double	filter (double left_motor_vel, double dt)

bool	hasZeroHistory (const std::vector< double > &vel_history)

double	I (double error, double dt)

double	P (double error, double dt)

int	PID (double error, double dt)

void	velocityController ()

Detailed Description

Definition at line 11 of file odom_control.hpp.

Constructor & Destructor Documentation

openrover::OdomControl::OdomControl ( )

Definition at line 21 of file odom_control.cpp.

openrover::OdomControl::OdomControl	(	bool	use_control,
		PidGains	pid_gains,
		int	max,
		int	min,
		std::string	log_filename
	)

Definition at line 39 of file odom_control.cpp.

openrover::OdomControl::OdomControl	(	bool	use_control,
		PidGains	pid_gains,
		int	max,
		int	min
	)

Definition at line 59 of file odom_control.cpp.

Member Function Documentation

int openrover::OdomControl::boundMotorSpeed	(	int	motor_speed,
		int	max,
		int	min
	)

private

Definition at line 197 of file odom_control.cpp.

double openrover::OdomControl::D	(	double	error,
		double	dt
	)

private

Definition at line 168 of file odom_control.cpp.

int openrover::OdomControl::deadbandOffset	(	int	motor_speed,
		int	deadband_offset
	)

private

Definition at line 216 of file odom_control.cpp.

int openrover::OdomControl::feedThroughControl ( )

private

Definition at line 129 of file odom_control.cpp.

double openrover::OdomControl::filter	(	double	left_motor_vel,
		double	dt
	)

private

Definition at line 229 of file odom_control.cpp.

bool openrover::OdomControl::hasZeroHistory ( const std::vector< double > & vel_history )

private

Definition at line 188 of file odom_control.cpp.

double openrover::OdomControl::I	(	double	error,
		double	dt
	)

private

Definition at line 173 of file odom_control.cpp.

double openrover::OdomControl::P	(	double	error,
		double	dt
	)

private

Definition at line 182 of file odom_control.cpp.

int openrover::OdomControl::PID	(	double	error,
		double	dt
	)

private

Definition at line 146 of file odom_control.cpp.

void openrover::OdomControl::reset ( )

Definition at line 134 of file odom_control.cpp.

unsigned char openrover::OdomControl::run	(	bool	e_stop_on,
		bool	control_on,
		double	commanded_vel,
		double	measured_vel,
		double	dt
	)

Definition at line 86 of file odom_control.cpp.

void openrover::OdomControl::start	(	bool	use_control,
		PidGains	pid_gains,
		int	max,
		int	min
	)

Definition at line 14 of file odom_control.cpp.

void openrover::OdomControl::velocityController ( )

private

Member Data Documentation

bool openrover::OdomControl::at_max_motor_speed_

Definition at line 37 of file odom_control.hpp.

bool openrover::OdomControl::at_min_motor_speed_

Definition at line 38 of file odom_control.hpp.

unsigned char openrover::OdomControl::deadband_offset_

Definition at line 55 of file odom_control.hpp.

bool openrover::OdomControl::enable_file_logging_

Definition at line 33 of file odom_control.hpp.

std::ofstream openrover::OdomControl::fs_

Definition at line 44 of file odom_control.hpp.

double openrover::OdomControl::integral_value_

Definition at line 50 of file odom_control.hpp.

double openrover::OdomControl::K_D_

Definition at line 49 of file odom_control.hpp.

double openrover::OdomControl::K_I_

Definition at line 48 of file odom_control.hpp.

double openrover::OdomControl::K_P_

Definition at line 47 of file odom_control.hpp.

std::string openrover::OdomControl::log_filename_

Definition at line 41 of file odom_control.hpp.

const double openrover::OdomControl::MAX_ACCEL_CUTOFF_

Definition at line 29 of file odom_control.hpp.

const double openrover::OdomControl::MAX_VELOCITY_

Definition at line 31 of file odom_control.hpp.

const double openrover::OdomControl::MIN_VELOCITY_

Definition at line 30 of file odom_control.hpp.

const int openrover::OdomControl::MOTOR_DEADBAND_

Definition at line 27 of file odom_control.hpp.

const int openrover::OdomControl::MOTOR_MAX_

Definition at line 25 of file odom_control.hpp.

const int openrover::OdomControl::MOTOR_MIN_

Definition at line 26 of file odom_control.hpp.

int openrover::OdomControl::motor_speed_

Definition at line 54 of file odom_control.hpp.

bool openrover::OdomControl::skip_measurement_

Definition at line 63 of file odom_control.hpp.

bool openrover::OdomControl::stop_integrating_

Definition at line 39 of file odom_control.hpp.

bool openrover::OdomControl::use_control_

Definition at line 34 of file odom_control.hpp.

double openrover::OdomControl::velocity_commanded_

Definition at line 58 of file odom_control.hpp.

bool openrover::OdomControl::velocity_control_on_

Definition at line 62 of file odom_control.hpp.

double openrover::OdomControl::velocity_error_

Definition at line 51 of file odom_control.hpp.

double openrover::OdomControl::velocity_filtered_

Definition at line 60 of file odom_control.hpp.

std::vector<double> openrover::OdomControl::velocity_history_

Definition at line 61 of file odom_control.hpp.

double openrover::OdomControl::velocity_measured_

Definition at line 59 of file odom_control.hpp.

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

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation