#include <math.h>#include <stdio.h>#include <strings.h>#include <unistd.h>#include <stdint.h>#include <stdlib.h>#include <time.h>#include <fcntl.h>#include <sys/stat.h>#include <sys/time.h>#include <sys/types.h>#include <shvel-param.h>#include <serial.h>#include <param.h>#include <control.h>#include <command.h>#include <utility.h>#include <yprintf.h>#include <odometry.h>#include <ssm_spur_handler.h>#include <ypspur.h>#include <pthread.h>
Include dependency graph for control_vehicle.c:
Go to the source code of this file.
Functions | |
| void | apply_motor_speed (SpurUserParamsPtr spur) |
| void | apply_motor_torque (SpurUserParamsPtr spur) |
| void | control_loop (void) |
| void | control_loop_cleanup (void *data) |
| double | gravity_compensation (OdometryPtr odm, SpurUserParamsPtr spur) |
| void | init_control_thread (pthread_t *thread) |
| int | motor_control (SpurUserParamsPtr spur) |
| void | robot_speed (SpurUserParamsPtr spur) |
| int | robot_speed_smooth (SpurUserParamsPtr spur) |
| void | run_control (Odometry odometry, SpurUserParamsPtr spur) |
| void | update_ref_speed (SpurUserParamsPtr spur) |
| void | wheel_angle (OdometryPtr odm, SpurUserParamsPtr spur) |
| void | wheel_torque (OdometryPtr odm, SpurUserParamsPtr spur, double *torque) |
| void | wheel_vel (OdometryPtr odm, SpurUserParamsPtr spur) |
Function Documentation
| void apply_motor_speed | ( | SpurUserParamsPtr | spur | ) |
Definition at line 137 of file control_vehicle.c.
| void apply_motor_torque | ( | SpurUserParamsPtr | spur | ) |
Definition at line 208 of file control_vehicle.c.
| void control_loop | ( | void | ) |
Definition at line 461 of file control_vehicle.c.
| void control_loop_cleanup | ( | void * | data | ) |
Definition at line 455 of file control_vehicle.c.
| double gravity_compensation | ( | OdometryPtr | odm, |
| SpurUserParamsPtr | spur | ||
| ) |
Definition at line 439 of file control_vehicle.c.
| void init_control_thread | ( | pthread_t * | thread | ) |
Definition at line 654 of file control_vehicle.c.
| int motor_control | ( | SpurUserParamsPtr | spur | ) |
Definition at line 60 of file control_vehicle.c.
| void robot_speed | ( | SpurUserParamsPtr | spur | ) |
Definition at line 244 of file control_vehicle.c.
| int robot_speed_smooth | ( | SpurUserParamsPtr | spur | ) |
Definition at line 335 of file control_vehicle.c.
| void run_control | ( | Odometry | odometry, |
| SpurUserParamsPtr | spur | ||
| ) |
Definition at line 511 of file control_vehicle.c.
| void update_ref_speed | ( | SpurUserParamsPtr | spur | ) |
Definition at line 229 of file control_vehicle.c.
| void wheel_angle | ( | OdometryPtr | odm, |
| SpurUserParamsPtr | spur | ||
| ) |
Definition at line 297 of file control_vehicle.c.
| void wheel_torque | ( | OdometryPtr | odm, |
| SpurUserParamsPtr | spur, | ||
| double * | torque | ||
| ) |
Definition at line 315 of file control_vehicle.c.
| void wheel_vel | ( | OdometryPtr | odm, |
| SpurUserParamsPtr | spur | ||
| ) |
Definition at line 279 of file control_vehicle.c.