Public Member Functions | Private Member Functions | Private Attributes
Kurt Class Reference

#include <kurt.h>

List of all members.

Public Member Functions

int can_motor (int left_pwm, char left_dir, char left_brake, int right_pwm, char right_dir, char right_brake)
int can_read_fifo ()
void can_rotunit_send (double speed)
 Kurt (Comm &comm, double wheel_perimeter, double axis_length, double turning_adaptation, int ticks_per_turn_of_wheel)
void set_wheel_speed (double _v_l_soll, double _v_r_soll, double _AntiWindup)
bool setPWMData (const std::string &speedPwmLeerlaufTable, double feedforward_turn, double ki, double kp)
 ~Kurt ()

Private Member Functions

void can_encoder (const can_frame &frame)
void can_gyro_mc1 (const can_frame &frame)
void can_rotunit (const can_frame &frame)
void can_sonar0_3 (const can_frame &frame)
void can_sonar4_7 (const can_frame &frame)
void can_sonar8_9 (const can_frame &frame)
void can_tilt_comp (const can_frame &frame)
void k_hard_stop (void)
void make_pwm_v_tab (int nr, double *v_pwm_l, double *v_pwm_r, int nr_v, int **pwm_v_l, int **pwm_v_r, double *v_max)
int normalize_ir (int ir)
int normalize_sonar (int s)
void odometry (int wheel_a, int wheel_b)
bool read_speed_to_pwm_leerlauf_tabelle (const std::string &filename, int *nr, double **v_pwm_l, double **v_pwm_r)
void set_wheel_speed1 (double v_l, double v_r, int integration_l, int integration_r)
void set_wheel_speed2 (double _v_l_soll, double _v_r_soll, double _v_l_ist, double _v_r_ist, double _omega, double _AntiWindup)
void set_wheel_speed2_mc (double _v_l_soll, double _v_r_soll, double _omega, double _AntiWindup)

Private Attributes

double axis_length_
CAN can_
Commcomm_
double feedforward_turn_
double ki_l
double ki_r
double kp_l
double kp_r
int leerlauf_adapt_
const int nr_v_
int * pwm_v_l_
int * pwm_v_r_
int ticks_per_turn_of_wheel_
double turning_adaptation_
bool use_microcontroller_
bool use_rotunit_
double v_encoder_left_
double v_encoder_right_
double vmax_
double wheel_perimeter_

Detailed Description

Definition at line 51 of file kurt.h.


Constructor & Destructor Documentation

Kurt::Kurt ( Comm comm,
double  wheel_perimeter,
double  axis_length,
double  turning_adaptation,
int  ticks_per_turn_of_wheel 
) [inline]

Definition at line 54 of file kurt.h.

Definition at line 14 of file kurt.cc.


Member Function Documentation

void Kurt::can_encoder ( const can_frame &  frame) [private]

Definition at line 514 of file kurt.cc.

void Kurt::can_gyro_mc1 ( const can_frame &  frame) [private]

Definition at line 597 of file kurt.cc.

int Kurt::can_motor ( int  left_pwm,
char  left_dir,
char  left_brake,
int  right_pwm,
char  right_dir,
char  right_brake 
)

Definition at line 45 of file kurt.cc.

Definition at line 637 of file kurt.cc.

void Kurt::can_rotunit ( const can_frame &  frame) [private]

Definition at line 505 of file kurt.cc.

void Kurt::can_rotunit_send ( double  speed)

Definition at line 480 of file kurt.cc.

void Kurt::can_sonar0_3 ( const can_frame &  frame) [private]

Definition at line 565 of file kurt.cc.

void Kurt::can_sonar4_7 ( const can_frame &  frame) [private]

Definition at line 555 of file kurt.cc.

void Kurt::can_sonar8_9 ( const can_frame &  frame) [private]

Definition at line 548 of file kurt.cc.

void Kurt::can_tilt_comp ( const can_frame &  frame) [private]

Definition at line 574 of file kurt.cc.

void Kurt::k_hard_stop ( void  ) [private]

Definition at line 71 of file kurt.cc.

void Kurt::make_pwm_v_tab ( int  nr,
double *  v_pwm_l,
double *  v_pwm_r,
int  nr_v,
int **  pwm_v_l,
int **  pwm_v_r,
double *  v_max 
) [private]

Definition at line 362 of file kurt.cc.

int Kurt::normalize_ir ( int  ir) [private]

Definition at line 530 of file kurt.cc.

int Kurt::normalize_sonar ( int  s) [private]

Definition at line 539 of file kurt.cc.

void Kurt::odometry ( int  wheel_a,
int  wheel_b 
) [private]

Definition at line 418 of file kurt.cc.

bool Kurt::read_speed_to_pwm_leerlauf_tabelle ( const std::string &  filename,
int *  nr,
double **  v_pwm_l,
double **  v_pwm_r 
) [private]

Definition at line 327 of file kurt.cc.

void Kurt::set_wheel_speed ( double  _v_l_soll,
double  _v_r_soll,
double  _AntiWindup 
)

Definition at line 312 of file kurt.cc.

void Kurt::set_wheel_speed1 ( double  v_l,
double  v_r,
int  integration_l,
int  integration_r 
) [private]

Definition at line 91 of file kurt.cc.

void Kurt::set_wheel_speed2 ( double  _v_l_soll,
double  _v_r_soll,
double  _v_l_ist,
double  _v_r_ist,
double  _omega,
double  _AntiWindup 
) [private]

Definition at line 134 of file kurt.cc.

void Kurt::set_wheel_speed2_mc ( double  _v_l_soll,
double  _v_r_soll,
double  _omega,
double  _AntiWindup 
) [private]

Definition at line 278 of file kurt.cc.

bool Kurt::setPWMData ( const std::string &  speedPwmLeerlaufTable,
double  feedforward_turn,
double  ki,
double  kp 
)

Definition at line 26 of file kurt.cc.


Member Data Documentation

double Kurt::axis_length_ [private]

Definition at line 88 of file kurt.h.

CAN Kurt::can_ [private]

Definition at line 83 of file kurt.h.

Comm& Kurt::comm_ [private]

Definition at line 84 of file kurt.h.

double Kurt::feedforward_turn_ [private]

Definition at line 102 of file kurt.h.

double Kurt::ki_l [private]

Definition at line 100 of file kurt.h.

double Kurt::ki_r [private]

Definition at line 100 of file kurt.h.

double Kurt::kp_l [private]

Definition at line 99 of file kurt.h.

double Kurt::kp_r [private]

Definition at line 99 of file kurt.h.

int Kurt::leerlauf_adapt_ [private]

Definition at line 101 of file kurt.h.

const int Kurt::nr_v_ [private]

Definition at line 96 of file kurt.h.

int* Kurt::pwm_v_l_ [private]

Definition at line 98 of file kurt.h.

int * Kurt::pwm_v_r_ [private]

Definition at line 98 of file kurt.h.

Definition at line 90 of file kurt.h.

double Kurt::turning_adaptation_ [private]

Definition at line 89 of file kurt.h.

Definition at line 92 of file kurt.h.

Definition at line 93 of file kurt.h.

double Kurt::v_encoder_left_ [private]

Definition at line 104 of file kurt.h.

double Kurt::v_encoder_right_ [private]

Definition at line 104 of file kurt.h.

double Kurt::vmax_ [private]

Definition at line 97 of file kurt.h.

double Kurt::wheel_perimeter_ [private]

Definition at line 87 of file kurt.h.


The documentation for this class was generated from the following files:
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kurt_base
Author(s): Jochen Sprickerhof
autogenerated on Tue May 28 2013 14:54:59