kurt.h
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00001 #ifndef _KURT_H_
00002 #define _KURT_H_
00003 
00004 #include <string>
00005 
00006 #include <net/if.h>
00007 #include <sys/ioctl.h>
00008 
00009 #include <linux/can.h>
00010 
00011 #include "can.h"
00012 #include "comm.h"
00013 
00014 //CAN IDs
00015 #define CAN_CONTROL    0x00000001 // control message
00016 #define CAN_ADC00_03   0x00000005 // analog input channels: 0 - 3
00017 #define CAN_ADC04_07   0x00000006 // analog input channels: 4 - 7
00018 #define CAN_ADC08_11   0x00000007 // analog input channels: 8 - 11
00019 #define CAN_ENCODER    0x00000009 // 2 motor encoders
00020 #define CAN_TILT_COMP  0x0000000D // data from tilt sensor
00021 #define CAN_GYRO_MC1   0x0000000E // data from gyro connected to 1st C167
00022 #define CAN_GETROTUNIT 0x00000010 // current rotunit angle
00023 #define CAN_SETROTUNT  0x00000080 // send rotunit speed
00024 
00025 //unused CAN IDs
00026 #define CAN_INFO_1     0x00000004 // info message (hardware identification, firmware version, loop count): hw_id[2], fw_version[2], loop[4]
00027 #define CAN_ADC12_15   0x00000008 // analog input channels: 12 - 15, motor current right and left in milli Amper, adc channel 14, board temperature
00028 #define CAN_BUMPERC    0x0000000A // bumpers and remote control
00029 #define CAN_DEADRECK   0x0000000B // position as ascertained by odometry: position_x[3], position_y[3], orientation[2]
00030 #define CAN_GETSPEED   0x0000000C // current transl. and rot. speed (MACS spec say accumulated values of left and right motor's encoders: enc_odo_left[4], enc_odo_right[4]
00031 #define CAN_BDC00_03   0x00000015 // analog input channels: 0 - 3
00032 #define CAN_BDC04_07   0x00000016 // analog input channels: 4 - 7
00033 #define CAN_BDC08_11   0x00000017 // analog input channels: 8 - 11
00034 #define CAN_BDC12_15   0x00000018 // analog input channels: 12 - 15
00035 #define CAN_GYRO_MC2   0x0000001E // data from gyro connected to 2nd C167
00036 
00037 #define RAW            0          // raw control mode
00038 #define SPEED_CM       2          // speed (cm/s) control mode
00039 #define MAX_V_LIST     200
00040 
00041 // values from Sharp GP2D12 IR ranger data sheet
00042 #define IR_MIN         0.10 // [m]
00043 #define IR_MAX         0.80 // [m]
00044 #define IR_FOV         0.074859848 // [rad]
00045 
00046 // values from Baumer UNDK30I6103 ultrasonic data sheet
00047 #define SONAR_MIN      0.10 // [m]
00048 #define SONAR_MAX      1.00 // [m]
00049 #define SONAR_FOV      0.17809294 // [rad]
00050 
00051 class Kurt
00052 {
00053   public:
00054     Kurt(
00055         Comm &comm,
00056         double wheel_perimeter,
00057         double axis_length,
00058         double turning_adaptation,
00059         int ticks_per_turn_of_wheel) :
00060       comm_(comm),
00061       wheel_perimeter_(wheel_perimeter),
00062       axis_length_(axis_length),
00063       turning_adaptation_(turning_adaptation),
00064       ticks_per_turn_of_wheel_(ticks_per_turn_of_wheel),
00065       use_microcontroller_(true),
00066       use_rotunit_(false),
00067       nr_v_(1000),
00068       leerlauf_adapt_(0),
00069       v_encoder_left_(0.0),
00070       v_encoder_right_(0.0) { }
00071     ~Kurt();
00072 
00073     bool setPWMData(const std::string &speedPwmLeerlaufTable, double feedforward_turn, double ki, double kp);
00074 
00075     int can_motor(int left_pwm,  char left_dir,  char left_brake,
00076         int right_pwm, char right_dir, char right_brake);
00077     void set_wheel_speed(double _v_l_soll, double _v_r_soll, double _AntiWindup);
00078     int can_read_fifo();
00079 
00080     void can_rotunit_send(double speed);
00081 
00082   private:
00083     CAN can_;
00084     Comm &comm_;
00085 
00086     //odometry
00087     double wheel_perimeter_;
00088     double axis_length_;
00089     double turning_adaptation_;
00090     int ticks_per_turn_of_wheel_;
00091 
00092     bool use_microcontroller_;
00093     bool use_rotunit_;
00094 
00095     //PWM data
00096     const int nr_v_;
00097     double vmax_;
00098     int *pwm_v_l_, *pwm_v_r_;
00099     double kp_l, kp_r; // schnell aenderung folgen
00100     double ki_l, ki_r; // integrierer relative langsam
00101     int leerlauf_adapt_;
00102     double feedforward_turn_; // in v = m/s
00103     // speed from encoder in m/s
00104     double v_encoder_left_, v_encoder_right_;
00105 
00106     //motor
00107     void k_hard_stop(void);
00108     void set_wheel_speed1(double v_l, double v_r, int integration_l, int integration_r);
00109     void set_wheel_speed2(double _v_l_soll, double _v_r_soll, double _v_l_ist,
00110         double _v_r_ist, double _omega, double _AntiWindup);
00111     void set_wheel_speed2_mc(double _v_l_soll, double _v_r_soll, double _omega,
00112         double _AntiWindup);
00113     void odometry(int wheel_a, int wheel_b);
00114     bool read_speed_to_pwm_leerlauf_tabelle(const std::string &filename, int *nr,
00115         double **v_pwm_l, double **v_pwm_r);
00116     void make_pwm_v_tab(int nr, double *v_pwm_l, double *v_pwm_r, int nr_v, int
00117         **pwm_v_l, int **pwm_v_r, double *v_max);
00118 
00119     //sensors
00120     void can_encoder(const can_frame &frame);
00121     int normalize_ir(int ir);
00122     int normalize_sonar(int s);
00123     void can_sonar8_9(const can_frame &frame);
00124     void can_sonar4_7(const can_frame &frame);
00125     void can_sonar0_3(const can_frame &frame);
00126     void can_tilt_comp(const can_frame &frame);
00127     void can_gyro_mc1(const can_frame &frame);
00128 
00129     void can_rotunit(const can_frame &frame);
00130 };
00131 
00132 #endif
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kurt_base
Author(s): Jochen Sprickerhof
autogenerated on Tue May 28 2013 14:54:59