omnilib.c File Reference
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <math.h>
#include "omnilib.h"
#include "realtime.h"
Go to the source code of this file.
Defines |
| #define | alpha (0.3425 + 0.24) |
| #define | alpha (0.3425 + 0.24) |
| #define | INT16 2 |
| #define | INT8 0 |
| #define | UINT16 3 |
| #define | UINT8 1 |
Functions |
| void | drive_status (char *drive, int index) |
| void | jac_forward (double *in, double *out) |
| void | jac_inverse (double *in, double *out) |
| commstatus_t | omnidrive_commstatus () |
| int | omnidrive_drive (double x, double y, double a) |
| int | omnidrive_init (void) |
| int | omnidrive_odometry (double *x, double *y, double *a) |
| void | omnidrive_poweroff () |
| void | omnidrive_poweron () |
| void | omnidrive_recover () |
| void | omnidrive_set_correction (double drift) |
| int | omnidrive_shutdown (void) |
| void | omnidrive_speedcontrol () |
| void | omnidrive_status (char *drive0, char *drive1, char *drive2, char *drive3, int *estop) |
| int | readSDO (int device, int objectNum) |
| int | writeSDO (int device, int objectNum, int value, int type) |
Variables |
| commstatus_t | commstatus |
| int | drive_constant = 3663 |
| uint32_t | last_odometry_position [4] = {0, 0, 0, 0} |
| double | odometry [3] = {0, 0, 0} |
| int | odometry_constant = 3998394 |
| double | odometry_correction = 1.0 |
| int | odometry_initialized = 0 |
| int | status [4] |
Define Documentation
| #define alpha (0.3425 + 0.24) |
| #define alpha (0.3425 + 0.24) |
Function Documentation
| void drive_status |
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char * |
drive, |
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int |
index | |
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| void jac_forward |
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double * |
in, |
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double * |
out | |
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) |
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Jacobians for a mecanum wheels based omnidirectional platform. The functions jac_forward and jac_inverse convert cartesian velocities into wheel velocities and vice versa. For our motors, the order and signs are changed. The matrix C accounts for this.
Definition at line 106 of file omnilib.c.
| void jac_inverse |
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double * |
in, |
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double * |
out | |
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| int omnidrive_drive |
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double |
x, |
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double |
y, |
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double |
a | |
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) |
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| int omnidrive_init |
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void |
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| int omnidrive_odometry |
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double * |
x, |
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double * |
y, |
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double * |
a | |
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) |
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| void omnidrive_poweroff |
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| void omnidrive_poweron |
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| void omnidrive_recover |
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| void omnidrive_set_correction |
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double |
drift |
) |
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| int omnidrive_shutdown |
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void |
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) |
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| void omnidrive_speedcontrol |
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| void omnidrive_status |
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char * |
drive0, |
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char * |
drive1, |
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char * |
drive2, |
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char * |
drive3, |
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int * |
estop | |
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) |
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| int readSDO |
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int |
device, |
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int |
objectNum | |
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) |
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| int writeSDO |
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int |
device, |
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int |
objectNum, |
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int |
value, |
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int |
type | |
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) |
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Variable Documentation
