simulatedMotor.cpp

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_powercube_chain
 * Description: This class simulates a PowerCube.
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Felix Geibel, email:Felix.Geibel@gmx.de
 * Supervised by: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
 *
 * Date of creation: Aug 2007
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL 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 Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#include <cob_powercube_chain/simulatedMotor.h>
#include <math.h>

                
simulatedMotor::simulatedMotor(double lowLimit, double upLimit, double maxAcc, double maxVel)
        : m_lastMove(0, 0, 0, 1, 1)
{
        m_ll = lowLimit;
        m_ul = upLimit;
        m_amax = fabs(maxAcc);
        m_vmax = fabs(maxVel);
        //deb = NULL;
        m_lastMove.start(); // Will be finished immediately, so that motor is at x=0, v=0
        T0 = 0.0008;
}

// Zunächst die Steuerungs-Funktionen: //

void simulatedMotor::moveRamp(double targetAngle, double vmax, double amax)
{
        double x = m_lastMove.pos();
        double v = m_lastMove.vel();
        
        // Range Check:
        if ( targetAngle < m_ll ) targetAngle = m_ll;
        else if ( targetAngle > m_ul ) targetAngle = m_ul;
        
        double vm = fabs(vmax);
        double am = fabs(amax);
        
        if ( vm > m_vmax ) vm = m_vmax;
        if ( am > m_amax ) am = m_amax;
        
        m_lastMove = RampCommand(x, v, targetAngle, am, vm);
        m_lastMove.start();
}


void simulatedMotor::moveVel(double vel)
{
        double x = m_lastMove.pos();
        double v = m_lastMove.vel();
        
        double targetAngle = x;
        
        // Move with constant v is RampMove to the corresponding limit!
        if ( vel > 0 ) 
                targetAngle = m_ul;
        else if ( vel < 0)
                targetAngle = m_ll;
        
        double vm = fabs(vel);
        if ( vm > m_vmax ) vm = m_vmax; 
        
        double a = fabs(vel-v) / T0;
        
        m_lastMove = RampCommand(x, v, targetAngle, a, vm);
        m_lastMove.start();
}


void simulatedMotor::movePos(double pos)
{
        double x = m_lastMove.pos();
        double v = m_lastMove.vel();
        
        double targetAngle = pos;

        // Range Check:
        if ( targetAngle < m_ll ) targetAngle = m_ll;
        else if ( targetAngle > m_ul ) targetAngle = m_ul;
        
        double vm = fabs(m_vmax);
        
        // move backwards?
        if ( pos < x )
                vm = -vm;
        
        double a = fabs(vm-v) / T0;
        
        m_lastMove = RampCommand(x, v, targetAngle, a, vm);
        m_lastMove.start();
}


void simulatedMotor::stop()
{
        // Stops immediately (would not be possible with a real motor)
        double x = m_lastMove.pos();
        double v = 0;
        
        m_lastMove = RampCommand(x, v, x, 1, 1);
        m_lastMove.start();
}

RampCommand simulatedMotor::getRampMove(double targetAngle, double vmax, double amax)
{
        double x = m_lastMove.pos();
        double v = m_lastMove.vel();
        
        // Range Check:
        if ( targetAngle < m_ll ) targetAngle = m_ll;
        else if ( targetAngle > m_ul ) targetAngle = m_ul;
        
        double vm = fabs(vmax);
        double am = fabs(amax);
        
        if ( vm > m_vmax ) vm = m_vmax;
        if ( am > m_amax ) am = m_amax;
        
        RampCommand rc(x, v, targetAngle, am, vm);
        return rc;
}

---

cob_powercube_chain
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 09:14:20 2013