Classes | Functions | Variables
openrover Namespace Reference

Classes

class  OdomControl
 
class  OpenRover
 
struct  PidGains
 

Functions

rr_openrover_driver_msgs::SmartBatteryStatus interpret_battery_status (uint16_t bits)
 

Variables

const int CONTROLLER_DEADBAND_COMP = 0
 
const int ENCODER_MAX = 14000
 
const int ENCODER_MIN = 40
 
const int FAST_SIZE = sizeof(ROBOT_DATA_INDEX_FAST) / sizeof(ROBOT_DATA_INDEX_FAST[0])
 
const int i_BATTERY_CURRENT_A = 68
 
const int i_BATTERY_CURRENT_B = 70
 
const int i_BATTERY_MODE_A = 56
 
const int i_BATTERY_MODE_B = 58
 
const int i_BATTERY_STATUS_A = 52
 
const int i_BATTERY_STATUS_B = 54
 
const int i_BATTERY_TEMP_A = 60
 
const int i_BATTERY_TEMP_B = 62
 
const int i_BATTERY_VOLTAGE_A = 64
 
const int i_BATTERY_VOLTAGE_B = 66
 
const int i_BUILDNO = 40
 
const int i_ENCODER_INTERVAL_MOTOR_FLIPPER = 32
 
const int i_ENCODER_INTERVAL_MOTOR_LEFT = 28
 
const int i_ENCODER_INTERVAL_MOTOR_RIGHT = 30
 
const int i_REG_FLIPPER_FB_POSITION_POT1 = 6
 
const int i_REG_FLIPPER_FB_POSITION_POT2 = 8
 
const int i_REG_MOTOR_CHARGER_STATE = 38
 
const int i_REG_MOTOR_FAULT_FLAG_LEFT = 18
 
const int i_REG_MOTOR_FB_CURRENT_LEFT = 10
 
const int i_REG_MOTOR_FB_CURRENT_RIGHT = 12
 
const int i_REG_MOTOR_FB_RPM_LEFT = 2
 
const int i_REG_MOTOR_FB_RPM_RIGHT = 4
 
const int i_REG_MOTOR_FLIPPER_ANGLE = 46
 
const int i_REG_MOTOR_TEMP_LEFT = 20
 
const int i_REG_MOTOR_TEMP_RIGHT = 22
 
const int i_REG_POWER_A_CURRENT = 42
 
const int i_REG_POWER_B_CURRENT = 44
 
const int i_REG_POWER_BAT_VOLTAGE_A = 24
 
const int i_REG_POWER_BAT_VOLTAGE_B = 26
 
const int i_REG_PWR_TOTAL_CURRENT = 0
 
const int i_REG_ROBOT_REL_SOC_A = 34
 
const int i_REG_ROBOT_REL_SOC_B = 36
 
const int LOOP_RATE = 1000
 
const int MAX_ACCEL_CUTOFF = 20
 
const int MEDIUM_SIZE = sizeof(ROBOT_DATA_INDEX_MEDIUM) / sizeof(ROBOT_DATA_INDEX_MEDIUM[0])
 
const int MOTOR_DEADBAND = 9
 
const int MOTOR_DIFF_MAX = 200
 
const int MOTOR_FLIPPER_COEF = 100
 
const int MOTOR_NEUTRAL = 125
 
const int MOTOR_SPEED_ANGULAR_COEF_2WD_HS = 10
 
const int MOTOR_SPEED_ANGULAR_COEF_4WD_HS = 6
 
const int MOTOR_SPEED_ANGULAR_COEF_F_HS = 50
 
const float MOTOR_SPEED_CW_TURN_COEF = 1.0
 
const int MOTOR_SPEED_LINEAR_COEF_2WD_HS = 30
 
const int MOTOR_SPEED_LINEAR_COEF_4WD_HS = 31
 
const int MOTOR_SPEED_LINEAR_COEF_F_HS = 90
 
const int MOTOR_SPEED_MAX = 250
 
const int MOTOR_SPEED_MIN = 0
 
const float ODOM_ANGULAR_COEF_2WD = 1.0 / (ODOM_AXLE_TRACK_2WD * 2.54 / 100)
 
const float ODOM_ANGULAR_COEF_4WD = 1.0 / (ODOM_AXLE_TRACK_4WD * 2.54 / 100)
 
const float ODOM_ANGULAR_COEF_F = 0.5 / (ODOM_AXLE_TRACK_F * 2.54 / 100)
 
const float ODOM_AXLE_TRACK_2WD = 14.375
 
const float ODOM_AXLE_TRACK_4WD = 14.375
 
const float ODOM_AXLE_TRACK_F = 10.75
 
const float ODOM_ENCODER_COEF_2WD = 182.405
 
const float ODOM_ENCODER_COEF_4WD = 182.405
 
const float ODOM_ENCODER_COEF_F = 110.8
 
const float ODOM_TRACTION_FACTOR_2WD = 0.9877
 
const float ODOM_TRACTION_FACTOR_4WD = 0.610
 
const float ODOM_TRACTION_FACTOR_F = 0.75
 
const int ROBOT_DATA_INDEX_FAST []
 
const int ROBOT_DATA_INDEX_MEDIUM []
 
const int ROBOT_DATA_INDEX_SLOW []
 
const int SERIAL_IN_PACKAGE_LENGTH = 5
 
const int SERIAL_OUT_PACKAGE_LENGTH = 7
 
const unsigned char SERIAL_START_BYTE = 253
 
const int SLOW_SIZE = sizeof(ROBOT_DATA_INDEX_SLOW) / sizeof(ROBOT_DATA_INDEX_SLOW[0])
 

Function Documentation

rr_openrover_driver_msgs::SmartBatteryStatus openrover::interpret_battery_status ( uint16_t  bits)

Definition at line 610 of file openrover_driver.cpp.

Variable Documentation

const int openrover::CONTROLLER_DEADBAND_COMP = 0

Definition at line 42 of file constants.hpp.

const int openrover::ENCODER_MAX = 14000

Definition at line 49 of file constants.hpp.

const int openrover::ENCODER_MIN = 40

Definition at line 50 of file constants.hpp.

const int openrover::FAST_SIZE = sizeof(ROBOT_DATA_INDEX_FAST) / sizeof(ROBOT_DATA_INDEX_FAST[0])

Definition at line 128 of file constants.hpp.

const int openrover::i_BATTERY_CURRENT_A = 68

Definition at line 102 of file constants.hpp.

const int openrover::i_BATTERY_CURRENT_B = 70

Definition at line 103 of file constants.hpp.

const int openrover::i_BATTERY_MODE_A = 56

Definition at line 95 of file constants.hpp.

const int openrover::i_BATTERY_MODE_B = 58

Definition at line 96 of file constants.hpp.

const int openrover::i_BATTERY_STATUS_A = 52

Definition at line 93 of file constants.hpp.

const int openrover::i_BATTERY_STATUS_B = 54

Definition at line 94 of file constants.hpp.

const int openrover::i_BATTERY_TEMP_A = 60

Definition at line 97 of file constants.hpp.

const int openrover::i_BATTERY_TEMP_B = 62

Definition at line 98 of file constants.hpp.

const int openrover::i_BATTERY_VOLTAGE_A = 64

Definition at line 100 of file constants.hpp.

const int openrover::i_BATTERY_VOLTAGE_B = 66

Definition at line 101 of file constants.hpp.

const int openrover::i_BUILDNO = 40

Definition at line 84 of file constants.hpp.

const int openrover::i_ENCODER_INTERVAL_MOTOR_FLIPPER = 32

Definition at line 79 of file constants.hpp.

const int openrover::i_ENCODER_INTERVAL_MOTOR_LEFT = 28

Definition at line 77 of file constants.hpp.

const int openrover::i_ENCODER_INTERVAL_MOTOR_RIGHT = 30

Definition at line 78 of file constants.hpp.

const int openrover::i_REG_FLIPPER_FB_POSITION_POT1 = 6

Definition at line 66 of file constants.hpp.

const int openrover::i_REG_FLIPPER_FB_POSITION_POT2 = 8

Definition at line 67 of file constants.hpp.

const int openrover::i_REG_MOTOR_CHARGER_STATE = 38

Definition at line 83 of file constants.hpp.

const int openrover::i_REG_MOTOR_FAULT_FLAG_LEFT = 18

Definition at line 71 of file constants.hpp.

const int openrover::i_REG_MOTOR_FB_CURRENT_LEFT = 10

Definition at line 69 of file constants.hpp.

const int openrover::i_REG_MOTOR_FB_CURRENT_RIGHT = 12

Definition at line 70 of file constants.hpp.

const int openrover::i_REG_MOTOR_FB_RPM_LEFT = 2

Definition at line 64 of file constants.hpp.

const int openrover::i_REG_MOTOR_FB_RPM_RIGHT = 4

Definition at line 65 of file constants.hpp.

const int openrover::i_REG_MOTOR_FLIPPER_ANGLE = 46

Definition at line 88 of file constants.hpp.

const int openrover::i_REG_MOTOR_TEMP_LEFT = 20

Definition at line 72 of file constants.hpp.

const int openrover::i_REG_MOTOR_TEMP_RIGHT = 22

Definition at line 73 of file constants.hpp.

const int openrover::i_REG_POWER_A_CURRENT = 42

Definition at line 85 of file constants.hpp.

const int openrover::i_REG_POWER_B_CURRENT = 44

Definition at line 87 of file constants.hpp.

const int openrover::i_REG_POWER_BAT_VOLTAGE_A = 24

Definition at line 75 of file constants.hpp.

const int openrover::i_REG_POWER_BAT_VOLTAGE_B = 26

Definition at line 76 of file constants.hpp.

const int openrover::i_REG_PWR_TOTAL_CURRENT = 0

Definition at line 63 of file constants.hpp.

const int openrover::i_REG_ROBOT_REL_SOC_A = 34

Definition at line 81 of file constants.hpp.

const int openrover::i_REG_ROBOT_REL_SOC_B = 36

Definition at line 82 of file constants.hpp.

const int openrover::LOOP_RATE = 1000

Definition at line 8 of file constants.hpp.

const int openrover::MAX_ACCEL_CUTOFF = 20

Definition at line 43 of file constants.hpp.

const int openrover::MEDIUM_SIZE = sizeof(ROBOT_DATA_INDEX_MEDIUM) / sizeof(ROBOT_DATA_INDEX_MEDIUM[0])

Definition at line 129 of file constants.hpp.

const int openrover::MOTOR_DEADBAND = 9

Definition at line 53 of file constants.hpp.

const int openrover::MOTOR_DIFF_MAX = 200

Definition at line 57 of file constants.hpp.

const int openrover::MOTOR_FLIPPER_COEF = 100

Definition at line 51 of file constants.hpp.

const int openrover::MOTOR_NEUTRAL = 125

Definition at line 54 of file constants.hpp.

const int openrover::MOTOR_SPEED_ANGULAR_COEF_2WD_HS = 10

Definition at line 39 of file constants.hpp.

const int openrover::MOTOR_SPEED_ANGULAR_COEF_4WD_HS = 6

Definition at line 28 of file constants.hpp.

const int openrover::MOTOR_SPEED_ANGULAR_COEF_F_HS = 50

Definition at line 18 of file constants.hpp.

const float openrover::MOTOR_SPEED_CW_TURN_COEF = 1.0

Definition at line 29 of file constants.hpp.

const int openrover::MOTOR_SPEED_LINEAR_COEF_2WD_HS = 30

Definition at line 38 of file constants.hpp.

const int openrover::MOTOR_SPEED_LINEAR_COEF_4WD_HS = 31

Definition at line 27 of file constants.hpp.

const int openrover::MOTOR_SPEED_LINEAR_COEF_F_HS = 90

Definition at line 17 of file constants.hpp.

const int openrover::MOTOR_SPEED_MAX = 250

Definition at line 55 of file constants.hpp.

const int openrover::MOTOR_SPEED_MIN = 0

Definition at line 56 of file constants.hpp.

const float openrover::ODOM_ANGULAR_COEF_2WD = 1.0 / (ODOM_AXLE_TRACK_2WD * 2.54 / 100)

Definition at line 35 of file constants.hpp.

const float openrover::ODOM_ANGULAR_COEF_4WD = 1.0 / (ODOM_AXLE_TRACK_4WD * 2.54 / 100)

Definition at line 24 of file constants.hpp.

const float openrover::ODOM_ANGULAR_COEF_F = 0.5 / (ODOM_AXLE_TRACK_F * 2.54 / 100)

Definition at line 14 of file constants.hpp.

const float openrover::ODOM_AXLE_TRACK_2WD = 14.375

Definition at line 34 of file constants.hpp.

const float openrover::ODOM_AXLE_TRACK_4WD = 14.375

Definition at line 23 of file constants.hpp.

const float openrover::ODOM_AXLE_TRACK_F = 10.75

Definition at line 13 of file constants.hpp.

const float openrover::ODOM_ENCODER_COEF_2WD = 182.405

Definition at line 33 of file constants.hpp.

const float openrover::ODOM_ENCODER_COEF_4WD = 182.405

Definition at line 22 of file constants.hpp.

const float openrover::ODOM_ENCODER_COEF_F = 110.8

Definition at line 12 of file constants.hpp.

const float openrover::ODOM_TRACTION_FACTOR_2WD = 0.9877

Definition at line 36 of file constants.hpp.

const float openrover::ODOM_TRACTION_FACTOR_4WD = 0.610

Definition at line 25 of file constants.hpp.

const float openrover::ODOM_TRACTION_FACTOR_F = 0.75

Definition at line 15 of file constants.hpp.

const int openrover::ROBOT_DATA_INDEX_FAST[]
Initial value:

Definition at line 105 of file constants.hpp.

const int openrover::ROBOT_DATA_INDEX_MEDIUM[]
Initial value:

Definition at line 110 of file constants.hpp.

const int openrover::ROBOT_DATA_INDEX_SLOW[]
Initial value:
= {
}
const int i_BATTERY_VOLTAGE_B
Definition: constants.hpp:101
const int i_REG_MOTOR_TEMP_RIGHT
Definition: constants.hpp:73
const int i_REG_POWER_BAT_VOLTAGE_A
Definition: constants.hpp:75
const int i_REG_ROBOT_REL_SOC_A
Definition: constants.hpp:81
const int i_BATTERY_VOLTAGE_A
Definition: constants.hpp:100
const int i_BATTERY_MODE_A
Definition: constants.hpp:95
const int i_BATTERY_MODE_B
Definition: constants.hpp:96
const int i_BATTERY_TEMP_A
Definition: constants.hpp:97
const int i_REG_ROBOT_REL_SOC_B
Definition: constants.hpp:82
const int i_BATTERY_TEMP_B
Definition: constants.hpp:98
const int i_REG_POWER_BAT_VOLTAGE_B
Definition: constants.hpp:76
const int i_BATTERY_STATUS_A
Definition: constants.hpp:93
const int i_REG_MOTOR_TEMP_LEFT
Definition: constants.hpp:72
const int i_BATTERY_STATUS_B
Definition: constants.hpp:94
const int i_BUILDNO
Definition: constants.hpp:84

Definition at line 119 of file constants.hpp.

const int openrover::SERIAL_IN_PACKAGE_LENGTH = 5

Definition at line 7 of file constants.hpp.

const int openrover::SERIAL_OUT_PACKAGE_LENGTH = 7

Definition at line 6 of file constants.hpp.

const unsigned char openrover::SERIAL_START_BYTE = 253

Definition at line 5 of file constants.hpp.

const int openrover::SLOW_SIZE = sizeof(ROBOT_DATA_INDEX_SLOW) / sizeof(ROBOT_DATA_INDEX_SLOW[0])

Definition at line 130 of file constants.hpp.



rr_openrover_driver
Author(s): Jack Kilian
autogenerated on Thu Sep 10 2020 03:38:39