volksbot.h
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1 /*
2  * Copyright (c) 2013, Osnabrueck University
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29 
30 #ifndef _VOLKSBOT_H_
31 #define _VOLKSBOT_H_
32 
33 #include <Epos2.h>
34 
35 #include "comm.h"
36 
37 class Volksbot
38 {
39  public:
40  Volksbot(
41  Comm &comm,
42  double wheel_radius,
43  double axis_length,
44  double turning_adaptation,
45  int gear_ratio,
46  int max_vel_l,
47  int max_vel_r,
48  int max_acc_l,
49  int max_acc_r,
50  bool drive_backwards);
51  ~Volksbot();
52  void set_wheel_speed(double _v_l_soll, double _v_r_soll);
53  double get_max_vel();
54  void odometry();
55 
56  private:
57  CEpos2 epos2_left_;
58  CEpos2 epos2_right_;
60  double wheel_radius_;
61  double axis_length_;
68 };
69 
70 #endif
int max_vel_l_
Definition: volksbot.h:64
Definition: comm.h:33
int max_acc_l_
Definition: volksbot.h:66
CEpos2 epos2_right_
Definition: volksbot.h:58
double axis_length_
Definition: volksbot.h:61
int max_vel_r_
Definition: volksbot.h:65
~Volksbot()
Definition: volksbot.cpp:97
double wheel_radius_
Definition: volksbot.h:60
Comm & comm_
Definition: volksbot.h:59
void odometry()
Definition: volksbot.cpp:115
int gear_ratio_
Definition: volksbot.h:63
CEpos2 epos2_left_
Definition: volksbot.h:57
int max_acc_r_
Definition: volksbot.h:67
double turning_adaptation_
Definition: volksbot.h:62
Volksbot(Comm &comm, double wheel_radius, double axis_length, double turning_adaptation, int gear_ratio, int max_vel_l, int max_vel_r, int max_acc_l, int max_acc_r, bool drive_backwards)
Definition: volksbot.cpp:41
double get_max_vel()
Definition: volksbot.cpp:105
void set_wheel_speed(double _v_l_soll, double _v_r_soll)
Definition: volksbot.cpp:109


volksbot_driver
Author(s): Jochen Sprickerhof
autogenerated on Sun Jul 21 2019 04:00:45