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 | |
EmergencyMotorInstruct (MotorInterface *motor, float frequency, Logger *logger, Configuration *config) | |
Constructor. More... | |
virtual | ~EmergencyMotorInstruct () |
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 calculate_rotation and calculate_translation are implemented linear ;-)
Definition at line 33 of file emergency_motor_instruct.h.
fawkes::EmergencyMotorInstruct::EmergencyMotorInstruct | ( | fawkes::MotorInterface * | motor, |
float | frequency, | ||
fawkes::Logger * | logger, | ||
fawkes::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 53 of file emergency_motor_instruct.cpp.
References fawkes::Logger::log_debug(), and fawkes::BaseMotorInstruct::logger_.
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virtual |
Destructor.
Definition at line 65 of file emergency_motor_instruct.cpp.
References fawkes::Logger::log_debug(), fawkes::BaseMotorInstruct::logger_, fawkes::BaseMotorInstruct::rot_acc_, fawkes::BaseMotorInstruct::rot_dec_, and fawkes::BaseMotorInstruct::trans_acc_.