openrover Namespace Reference

Classes
class	OdomControl
class	OpenRover
struct	PidGains

Functions
rr_openrover_basic::SmartBatteryStatus	interpret_battery_status (uint16_t bits)

Variables
const int	CONTROLLER_DEADBAND_COMP = 0
const int	ENCODER_MAX = 14000
const int	ENCODER_MIN = 40
const int	FAST_SIZE = sizeof(ROBOT_DATA_INDEX_FAST) / sizeof(ROBOT_DATA_INDEX_FAST[0])
const int	i_BATTERY_CURRENT_A = 68
const int	i_BATTERY_CURRENT_B = 70
const int	i_BATTERY_MODE_A = 56
const int	i_BATTERY_MODE_B = 58
const int	i_BATTERY_STATUS_A = 52
const int	i_BATTERY_STATUS_B = 54
const int	i_BATTERY_TEMP_A = 60
const int	i_BATTERY_TEMP_B = 62
const int	i_BATTERY_VOLTAGE_A = 64
const int	i_BATTERY_VOLTAGE_B = 66
const int	i_BUILDNO = 40
const int	i_ENCODER_INTERVAL_MOTOR_FLIPPER = 32
const int	i_ENCODER_INTERVAL_MOTOR_LEFT = 28
const int	i_ENCODER_INTERVAL_MOTOR_RIGHT = 30
const int	i_REG_FLIPPER_FB_POSITION_POT1 = 6
const int	i_REG_FLIPPER_FB_POSITION_POT2 = 8
const int	i_REG_MOTOR_CHARGER_STATE = 38
const int	i_REG_MOTOR_FAULT_FLAG_LEFT = 18
const int	i_REG_MOTOR_FB_CURRENT_LEFT = 10
const int	i_REG_MOTOR_FB_CURRENT_RIGHT = 12
const int	i_REG_MOTOR_FB_RPM_LEFT = 2
const int	i_REG_MOTOR_FB_RPM_RIGHT = 4
const int	i_REG_MOTOR_FLIPPER_ANGLE = 46
const int	i_REG_MOTOR_TEMP_LEFT = 20
const int	i_REG_MOTOR_TEMP_RIGHT = 22
const int	i_REG_POWER_A_CURRENT = 42
const int	i_REG_POWER_B_CURRENT = 44
const int	i_REG_POWER_BAT_VOLTAGE_A = 24
const int	i_REG_POWER_BAT_VOLTAGE_B = 26
const int	i_REG_PWR_TOTAL_CURRENT = 0
const int	i_REG_ROBOT_REL_SOC_A = 34
const int	i_REG_ROBOT_REL_SOC_B = 36
const int	LOOP_RATE = 1000
const int	MAX_ACCEL_CUTOFF = 20
const int	MEDIUM_SIZE = sizeof(ROBOT_DATA_INDEX_MEDIUM) / sizeof(ROBOT_DATA_INDEX_MEDIUM[0])
const int	MOTOR_DEADBAND = 9
const int	MOTOR_DIFF_MAX = 200
const int	MOTOR_FLIPPER_COEF = 100
const int	MOTOR_NEUTRAL = 125
const int	MOTOR_SPEED_ANGULAR_COEF_2WD_HS = 10
const int	MOTOR_SPEED_ANGULAR_COEF_4WD_HS = 6
const int	MOTOR_SPEED_ANGULAR_COEF_F_HS = 50
const float	MOTOR_SPEED_CW_TURN_COEF = 1.0
const int	MOTOR_SPEED_LINEAR_COEF_2WD_HS = 30
const int	MOTOR_SPEED_LINEAR_COEF_4WD_HS = 31
const int	MOTOR_SPEED_LINEAR_COEF_F_HS = 90
const int	MOTOR_SPEED_MAX = 250
const int	MOTOR_SPEED_MIN = 0
const float	ODOM_ANGULAR_COEF_2WD = 1.0 / (ODOM_AXLE_TRACK_2WD * 2.54 / 100)
const float	ODOM_ANGULAR_COEF_4WD = 1.0 / (ODOM_AXLE_TRACK_4WD * 2.54 / 100)
const float	ODOM_ANGULAR_COEF_F = 0.5 / (ODOM_AXLE_TRACK_F * 2.54 / 100)
const float	ODOM_AXLE_TRACK_2WD = 14.375
const float	ODOM_AXLE_TRACK_4WD = 14.375
const float	ODOM_AXLE_TRACK_F = 10.75
const float	ODOM_ENCODER_COEF_2WD = 182.405
const float	ODOM_ENCODER_COEF_4WD = 182.405
const float	ODOM_ENCODER_COEF_F = 110.8
const float	ODOM_TRACTION_FACTOR_2WD = 0.9877
const float	ODOM_TRACTION_FACTOR_4WD = 0.610
const float	ODOM_TRACTION_FACTOR_F = 0.75
const int	ROBOT_DATA_INDEX_FAST []
const int	ROBOT_DATA_INDEX_MEDIUM []
const int	ROBOT_DATA_INDEX_SLOW []
const int	SERIAL_IN_PACKAGE_LENGTH = 5
const int	SERIAL_OUT_PACKAGE_LENGTH = 7
const unsigned char	SERIAL_START_BYTE = 253
const int	SLOW_SIZE = sizeof(ROBOT_DATA_INDEX_SLOW) / sizeof(ROBOT_DATA_INDEX_SLOW[0])

Function Documentation

rr_openrover_basic::SmartBatteryStatus openrover::interpret_battery_status

(

uint16_t

bits

)

Definition at line 492 of file openrover_basic.cpp.

Variable Documentation

const int openrover::CONTROLLER_DEADBAND_COMP = 0

Definition at line 42 of file constants.hpp.

const int openrover::ENCODER_MAX = 14000

Definition at line 49 of file constants.hpp.

const int openrover::ENCODER_MIN = 40

Definition at line 50 of file constants.hpp.

const int openrover::FAST_SIZE = sizeof(ROBOT_DATA_INDEX_FAST) / sizeof(ROBOT_DATA_INDEX_FAST[0])

Definition at line 128 of file constants.hpp.

const int openrover::i_BATTERY_CURRENT_A = 68

Definition at line 102 of file constants.hpp.

const int openrover::i_BATTERY_CURRENT_B = 70

Definition at line 103 of file constants.hpp.

const int openrover::i_BATTERY_MODE_A = 56

Definition at line 95 of file constants.hpp.

const int openrover::i_BATTERY_MODE_B = 58

Definition at line 96 of file constants.hpp.

const int openrover::i_BATTERY_STATUS_A = 52

Definition at line 93 of file constants.hpp.

const int openrover::i_BATTERY_STATUS_B = 54

Definition at line 94 of file constants.hpp.

const int openrover::i_BATTERY_TEMP_A = 60

Definition at line 97 of file constants.hpp.

const int openrover::i_BATTERY_TEMP_B = 62

Definition at line 98 of file constants.hpp.

const int openrover::i_BATTERY_VOLTAGE_A = 64

Definition at line 100 of file constants.hpp.

const int openrover::i_BATTERY_VOLTAGE_B = 66

Definition at line 101 of file constants.hpp.

const int openrover::i_BUILDNO = 40

Definition at line 84 of file constants.hpp.

const int openrover::i_ENCODER_INTERVAL_MOTOR_FLIPPER = 32

Definition at line 79 of file constants.hpp.

const int openrover::i_ENCODER_INTERVAL_MOTOR_LEFT = 28

Definition at line 77 of file constants.hpp.

const int openrover::i_ENCODER_INTERVAL_MOTOR_RIGHT = 30

Definition at line 78 of file constants.hpp.

const int openrover::i_REG_FLIPPER_FB_POSITION_POT1 = 6

Definition at line 66 of file constants.hpp.

const int openrover::i_REG_FLIPPER_FB_POSITION_POT2 = 8

Definition at line 67 of file constants.hpp.

const int openrover::i_REG_MOTOR_CHARGER_STATE = 38

Definition at line 83 of file constants.hpp.

const int openrover::i_REG_MOTOR_FAULT_FLAG_LEFT = 18

Definition at line 71 of file constants.hpp.

const int openrover::i_REG_MOTOR_FB_CURRENT_LEFT = 10

Definition at line 69 of file constants.hpp.

const int openrover::i_REG_MOTOR_FB_CURRENT_RIGHT = 12

Definition at line 70 of file constants.hpp.

const int openrover::i_REG_MOTOR_FB_RPM_LEFT = 2

Definition at line 64 of file constants.hpp.

const int openrover::i_REG_MOTOR_FB_RPM_RIGHT = 4

Definition at line 65 of file constants.hpp.

const int openrover::i_REG_MOTOR_FLIPPER_ANGLE = 46

Definition at line 88 of file constants.hpp.

const int openrover::i_REG_MOTOR_TEMP_LEFT = 20

Definition at line 72 of file constants.hpp.

const int openrover::i_REG_MOTOR_TEMP_RIGHT = 22

Definition at line 73 of file constants.hpp.

const int openrover::i_REG_POWER_A_CURRENT = 42

Definition at line 85 of file constants.hpp.

const int openrover::i_REG_POWER_B_CURRENT = 44

Definition at line 87 of file constants.hpp.

const int openrover::i_REG_POWER_BAT_VOLTAGE_A = 24

Definition at line 75 of file constants.hpp.

const int openrover::i_REG_POWER_BAT_VOLTAGE_B = 26

Definition at line 76 of file constants.hpp.

const int openrover::i_REG_PWR_TOTAL_CURRENT = 0

Definition at line 63 of file constants.hpp.

const int openrover::i_REG_ROBOT_REL_SOC_A = 34

Definition at line 81 of file constants.hpp.

const int openrover::i_REG_ROBOT_REL_SOC_B = 36

Definition at line 82 of file constants.hpp.

const int openrover::LOOP_RATE = 1000

Definition at line 8 of file constants.hpp.

const int openrover::MAX_ACCEL_CUTOFF = 20

Definition at line 43 of file constants.hpp.

const int openrover::MEDIUM_SIZE = sizeof(ROBOT_DATA_INDEX_MEDIUM) / sizeof(ROBOT_DATA_INDEX_MEDIUM[0])

Definition at line 129 of file constants.hpp.

const int openrover::MOTOR_DEADBAND = 9

Definition at line 53 of file constants.hpp.

const int openrover::MOTOR_DIFF_MAX = 200

Definition at line 57 of file constants.hpp.

const int openrover::MOTOR_FLIPPER_COEF = 100

Definition at line 51 of file constants.hpp.

const int openrover::MOTOR_NEUTRAL = 125

Definition at line 54 of file constants.hpp.

const int openrover::MOTOR_SPEED_ANGULAR_COEF_2WD_HS = 10

Definition at line 39 of file constants.hpp.

const int openrover::MOTOR_SPEED_ANGULAR_COEF_4WD_HS = 6

Definition at line 28 of file constants.hpp.

const int openrover::MOTOR_SPEED_ANGULAR_COEF_F_HS = 50

Definition at line 18 of file constants.hpp.

const float openrover::MOTOR_SPEED_CW_TURN_COEF = 1.0

Definition at line 29 of file constants.hpp.

const int openrover::MOTOR_SPEED_LINEAR_COEF_2WD_HS = 30

Definition at line 38 of file constants.hpp.

const int openrover::MOTOR_SPEED_LINEAR_COEF_4WD_HS = 31

Definition at line 27 of file constants.hpp.

const int openrover::MOTOR_SPEED_LINEAR_COEF_F_HS = 90

Definition at line 17 of file constants.hpp.

const int openrover::MOTOR_SPEED_MAX = 250

Definition at line 55 of file constants.hpp.

const int openrover::MOTOR_SPEED_MIN = 0

Definition at line 56 of file constants.hpp.

const float openrover::ODOM_ANGULAR_COEF_2WD = 1.0 / (ODOM_AXLE_TRACK_2WD * 2.54 / 100)

Definition at line 35 of file constants.hpp.

const float openrover::ODOM_ANGULAR_COEF_4WD = 1.0 / (ODOM_AXLE_TRACK_4WD * 2.54 / 100)

Definition at line 24 of file constants.hpp.

const float openrover::ODOM_ANGULAR_COEF_F = 0.5 / (ODOM_AXLE_TRACK_F * 2.54 / 100)

Definition at line 14 of file constants.hpp.

const float openrover::ODOM_AXLE_TRACK_2WD = 14.375

Definition at line 34 of file constants.hpp.

const float openrover::ODOM_AXLE_TRACK_4WD = 14.375

Definition at line 23 of file constants.hpp.

const float openrover::ODOM_AXLE_TRACK_F = 10.75

Definition at line 13 of file constants.hpp.

const float openrover::ODOM_ENCODER_COEF_2WD = 182.405

Definition at line 33 of file constants.hpp.

const float openrover::ODOM_ENCODER_COEF_4WD = 182.405

Definition at line 22 of file constants.hpp.

const float openrover::ODOM_ENCODER_COEF_F = 110.8

Definition at line 12 of file constants.hpp.

const float openrover::ODOM_TRACTION_FACTOR_2WD = 0.9877

Definition at line 36 of file constants.hpp.

const float openrover::ODOM_TRACTION_FACTOR_4WD = 0.610

Definition at line 25 of file constants.hpp.

const float openrover::ODOM_TRACTION_FACTOR_F = 0.75

Definition at line 15 of file constants.hpp.

const int openrover::ROBOT_DATA_INDEX_FAST[]

Initial value:

= {
  i_ENCODER_INTERVAL_MOTOR_LEFT, i_ENCODER_INTERVAL_MOTOR_RIGHT
  
}

Definition at line 105 of file constants.hpp.

const int openrover::ROBOT_DATA_INDEX_MEDIUM[]

Initial value:

= {
  i_REG_PWR_TOTAL_CURRENT,
  
  i_REG_FLIPPER_FB_POSITION_POT1, i_REG_FLIPPER_FB_POSITION_POT2, i_REG_MOTOR_FB_CURRENT_LEFT,
  i_REG_MOTOR_FB_CURRENT_RIGHT, i_REG_MOTOR_CHARGER_STATE, i_REG_POWER_A_CURRENT, i_REG_POWER_B_CURRENT,
  i_REG_MOTOR_FLIPPER_ANGLE, i_BATTERY_CURRENT_A, i_BATTERY_CURRENT_B
  
}

Definition at line 110 of file constants.hpp.

const int openrover::ROBOT_DATA_INDEX_SLOW[]

Initial value:

= {
  
  i_REG_MOTOR_TEMP_LEFT,     i_REG_MOTOR_TEMP_RIGHT, i_REG_POWER_BAT_VOLTAGE_A,
  i_REG_POWER_BAT_VOLTAGE_B, i_REG_ROBOT_REL_SOC_A,  i_REG_ROBOT_REL_SOC_B,
  i_BATTERY_STATUS_A,        i_BATTERY_STATUS_B,     i_BATTERY_MODE_A,
  i_BATTERY_MODE_B,          i_BATTERY_TEMP_A,       i_BATTERY_TEMP_B,
  i_BATTERY_VOLTAGE_A,       i_BATTERY_VOLTAGE_B,    i_BUILDNO
}

Definition at line 119 of file constants.hpp.

const int openrover::SERIAL_IN_PACKAGE_LENGTH = 5

Definition at line 7 of file constants.hpp.

const int openrover::SERIAL_OUT_PACKAGE_LENGTH = 7

Definition at line 6 of file constants.hpp.

const unsigned char openrover::SERIAL_START_BYTE = 253

Definition at line 5 of file constants.hpp.

const int openrover::SLOW_SIZE = sizeof(ROBOT_DATA_INDEX_SLOW) / sizeof(ROBOT_DATA_INDEX_SLOW[0])

Definition at line 130 of file constants.hpp.