Fawkes API
Fawkes Development Version
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This module is a class for validity checks of drive commands and sets those things with respect to the physical borders of the robot. More...
#include <>>
Public Member Functions | |
QuadraticMotorInstruct (MotorInterface *motor, float frequency, Logger *logger, Configuration *config) | |
Constructor. More... | |
virtual | ~QuadraticMotorInstruct () |
Destructor. More... | |
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BaseMotorInstruct (MotorInterface *motor, float frequency, Logger *logger, Configuration *config) | |
Constructor. More... | |
virtual | ~BaseMotorInstruct () |
Desctructor. More... | |
void | drive (float trans_x, float trans_y, float rot) |
Try to realize the proposed values with respect to the maximum allowed values. More... | |
void | stop () |
Executes a soft stop with respect to calculate_translation and calculate_rotation. More... | |
Additional Inherited Members | |
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Logger * | logger_ |
The fawkes logger. More... | |
Configuration * | config_ |
The fawkse config. More... | |
float | trans_acc_ |
Translation acceleration. More... | |
float | trans_dec_ |
Translation deceleration. More... | |
float | rot_acc_ |
Rotation acceleration. More... | |
float | rot_dec_ |
Rotation deceleration. More... | |
This module is a class for validity checks of drive commands and sets those things with respect to the physical borders of the robot.
For this purpose the two functions CalculateRotation and CalculateTranslation are implemented quadratically ;-)
Definition at line 34 of file quadratic_motor_instruct.h.
fawkes::QuadraticMotorInstruct::QuadraticMotorInstruct | ( | MotorInterface * | motor, |
float | frequency, | ||
Logger * | logger, | ||
Configuration * | config | ||
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Constructor.
motor | The MotorInterface with all the motor information |
frequency | The frequency of the colli (should become deprecated!) |
logger | The fawkes logger |
config | The fawkes configuration |
Definition at line 52 of file quadratic_motor_instruct.cpp.
References fawkes::Logger::log_debug(), and fawkes::BaseMotorInstruct::logger_.
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virtual |
Destructor.
Definition at line 63 of file quadratic_motor_instruct.cpp.
References fawkes::Logger::log_debug(), fawkes::BaseMotorInstruct::logger_, fawkes::BaseMotorInstruct::rot_acc_, fawkes::BaseMotorInstruct::rot_dec_, fawkes::sqr(), fawkes::BaseMotorInstruct::trans_acc_, and fawkes::BaseMotorInstruct::trans_dec_.