Fawkes API  Fawkes Development Version
fawkes::QuadraticMotorInstruct Class Reference

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...

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Inheritance diagram for fawkes::QuadraticMotorInstruct:

Public Member Functions

 QuadraticMotorInstruct (MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
 Constructor. More...
 
virtual ~QuadraticMotorInstruct ()
 Destructor. More...
 
- Public Member Functions inherited from fawkes::BaseMotorInstruct
 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

- Protected Attributes inherited from fawkes::BaseMotorInstruct
Loggerlogger_
 The fawkes logger. More...
 
Configurationconfig_
 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...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ QuadraticMotorInstruct()

fawkes::QuadraticMotorInstruct::QuadraticMotorInstruct ( MotorInterface motor,
float  frequency,
Logger logger,
Configuration config 
)

Constructor.

Parameters
motorThe MotorInterface with all the motor information
frequencyThe frequency of the colli (should become deprecated!)
loggerThe fawkes logger
configThe fawkes configuration

Definition at line 52 of file quadratic_motor_instruct.cpp.

References fawkes::Logger::log_debug(), and fawkes::BaseMotorInstruct::logger_.

◆ ~QuadraticMotorInstruct()


The documentation for this class was generated from the following files: