RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Cleanup propulsion

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This commit is contained in:
Pascal Serrarens 2023-12-05 09:43:15 +01:00
parent 67ff10769a
commit 5e057710b4
6 changed files with 68 additions and 89 deletions
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11
DifferentialDrive.cpp
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@ -50,8 +50,9 @@ void DifferentialDrive::SetTwistSpeed(float forward, float yaw) {
SetTargetSpeeds(leftSpeed, rightSpeed);
}
void DifferentialDrive::SetTwistSpeed(float forward, float yaw, float pitch) {
float leftSpeed = Float::Clamp(forward - yaw, -1, 1);
float rightSpeed = Float::Clamp(forward + yaw, -1, 1);
SetTargetSpeeds(leftSpeed, rightSpeed);
}
// void DifferentialDrive::SetTwistSpeed(float forward, float yaw, float pitch)
// {
// float leftSpeed = Float::Clamp(forward - yaw, -1, 1);
// float rightSpeed = Float::Clamp(forward + yaw, -1, 1);
// SetTargetSpeeds(leftSpeed, rightSpeed);
// }

2
DifferentialDrive.h
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@ -13,7 +13,7 @@ class DifferentialDrive : public Propulsion {
void SetTargetSpeeds(float leftSpeed, float rightSpeed);
virtual void SetTwistSpeed(float forward, float yaw) override;
virtual void SetTwistSpeed(float forward, float yaw, float pitch) override;
// virtual void SetTwistSpeed(float forward, float yaw, float pitch) override;
};
} // namespace RoboidControl

66
Propulsion.cpp
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@ -29,9 +29,9 @@ void Propulsion::AddMotors(Placement* things, unsigned int thingCount) {
}
}
void Propulsion::AddQuadcopter(Quadcopter* quadcopter) {
this->quadcopter = quadcopter;
}
// void Propulsion::AddQuadcopter(Quadcopter* quadcopter) {
// this->quadcopter = quadcopter;
// }
unsigned int Propulsion::GetMotorCount() {
return this->motorCount;
@ -113,48 +113,30 @@ void Propulsion::SetMaxSpeed(float maxSpeed) {
// };
// }
void Propulsion::SetTwistSpeed(float forward, float yaw) {
// This is configuration dependent, a drone will do something completely
// different...
// float leftSpeed = Float::Clamp(forward - yaw, -1, 1);
// float rightSpeed = Float::Clamp(forward + yaw, -1, 1);
// SetDiffDriveSpeed(leftSpeed, rightSpeed);
void Propulsion::SetTwistSpeed(float forward, float yaw) {}
void Propulsion::SetTwistSpeed(Vector2 linear, float yaw) {}
void Propulsion::SetTwistSpeed(Vector3 linear,
float yaw,
float pitch,
float roll) {
// if (quadcopter != nullptr)
// quadcopter->SetTwistSpeed(linear, yaw);
// else
// SetTwistSpeed(linear.z, yaw);
}
void Propulsion::SetTwistSpeed(float forward, float yaw, float pitch) {
// float leftSpeed = Float::Clamp(forward - yaw, -1, 1);
// float rightSpeed = Float::Clamp(forward + yaw, -1, 1);
// SetDiffDriveSpeed(leftSpeed, rightSpeed);
// void Propulsion::SetLinearSpeed(Vector3 velocity,
// float yawSpeed,
// float rollSpeed) {
// if (quadcopter != nullptr)
// quadcopter->LinearMotion(velocity, yawSpeed, rollSpeed);
// }
// if (quadcopter != nullptr) {
// quadcopter->SetTwistSpeed(forward, yaw, pitch);
// }
}
void Propulsion::SetTwistSpeed(Vector3 linear, float yaw) {
if (quadcopter != nullptr)
quadcopter->SetTwistSpeed(linear, yaw);
else
SetTwistSpeed(linear.z, yaw);
}
void Propulsion::SetTwistVelocity(float forwardVelocity,
float turningVelocity) {
// float leftVelocity = Float::Clamp(forwardVelocity - turningVelocity, -1,
// 1); float rightVelocity = Float::Clamp(forwardVelocity + turningVelocity,
// -1, 1); SetDiffDriveVelocities(leftVelocity, rightVelocity);
}
void Propulsion::SetLinearSpeed(Vector3 velocity,
float yawSpeed,
float rollSpeed) {
if (quadcopter != nullptr)
quadcopter->LinearMotion(velocity, yawSpeed, rollSpeed);
}
Quadcopter* Propulsion::GetQuadcopter() {
return quadcopter;
}
// Quadcopter* Propulsion::GetQuadcopter() {
// return quadcopter;
// }
/// @brief Odometer returns the total distance traveled since start
/// @return The total distance

26
Propulsion.h
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@ -2,7 +2,7 @@
#include "ControlledMotor.h"
#include "Placement.h"
#include "Quadcopter.h"
// #include "Quadcopter.h"
#include "Vector2.h"
// #include <time.h>
@ -18,8 +18,8 @@ class Propulsion {
void Update(float currentTimeMs);
void AddMotors(Placement* motors, unsigned int motorCount);
void AddQuadcopter(Quadcopter* quadcopter);
Quadcopter* GetQuadcopter();
// void AddQuadcopter(Quadcopter* quadcopter);
// Quadcopter* GetQuadcopter();
unsigned int GetMotorCount();
Motor* GetMotor(unsigned int motorIx);
@ -34,18 +34,12 @@ class Propulsion {
void SetMaxSpeed(float maxSpeed);
// Velocity control
// void SetDiffDriveSpeed(float leftSpeed, float rightSpeed);
// void SetDiffDriveVelocities(float leftVelocity, float rightVelocity);
virtual void SetTwistSpeed(float forward, float yaw);
virtual void SetTwistSpeed(float forward, float yaw, float pitch);
virtual void SetTwistSpeed(Vector3 linear, float yaw);
virtual void SetTwistVelocity(float forward, float yaw);
// Think: drones
void SetLinearSpeed(Vector3 direction,
float yawSpeed = 0.0F,
float rollSpeed = 0.0F);
virtual void SetTwistSpeed(float forward, float yaw = 0.0F); // 2D
virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F); // 2D plus
virtual void SetTwistSpeed(Vector3 linear,
float yaw = 0.0F,
float pitch = 0.0F,
float roll = 0.0F); // 3D
// Position control (or actually, distance control)
bool Drive(Vector3 point, float rotation, float currentTimeMs);
@ -56,8 +50,6 @@ class Propulsion {
unsigned int motorCount = 0;
protected:
Quadcopter* quadcopter = nullptr;
float maxSpeed = 1;
bool driving = false;

38
Quadcopter.cpp
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@ -1,36 +1,38 @@
#include "Quadcopter.h"
Quadcopter::Quadcopter() {
Quadcopter::Quadcopter() {}
void Quadcopter::SetTwistSpeed(float forward, float yaw) {
this->velocity = Vector3::forward * forward;
this->yawSpeed = yaw;
}
void Quadcopter::LinearMotion(Vector3 velocity, float yawSpeed, float rollSpeed) {
this->velocity = velocity;
this->yawSpeed = yawSpeed;
this->rollSpeed = rollSpeed;
void Quadcopter::SetTwistSpeed(Vector2 linear, float yaw) {
this->velocity = Vector3(linear.x, 0.0F, linear.y);
this->yawSpeed = yaw;
}
void Quadcopter::SetTwistSpeed(Vector3 velocity, float yawSpeed) {
this->velocity = velocity;
this->yawSpeed = yawSpeed;
}
void Quadcopter::SetTwistSpeed(float forward, float yaw, float pitch) {
this->velocity = Vector3::forward * forward;
this->yawSpeed = yaw;
this->pitchSpeed = pitch;
void Quadcopter::SetTwistSpeed(Vector3 velocity,
float yaw,
float pitch,
float roll) {
this->velocity = velocity;
this->yawSpeed = yaw;
this->rollSpeed = roll;
this->pitchSpeed = pitch;
}
Vector3 Quadcopter::GetTargetVelocity() {
return this->velocity;
return this->velocity;
}
float Quadcopter::GetPitchSpeed() {
return this->pitchSpeed;
return this->pitchSpeed;
}
float Quadcopter::GetYawSpeed() {
return this->yawSpeed;
return this->yawSpeed;
}
float Quadcopter::GetRollSpeed() {
return this->rollSpeed;
return this->rollSpeed;
}

14
Quadcopter.h
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@ -1,20 +1,22 @@
#pragma once
#include "Propulsion.h"
#include "Thing.h"
#include "Vector3.h"
namespace Passer {
namespace RoboidControl {
class Quadcopter : public Thing {
class Quadcopter : public Propulsion {
public:
Quadcopter();
void LinearMotion(Vector3 velocity,
float yawSpeed = 0.0F,
float rollSpeed = 0.0);
void SetTwistSpeed(float forward, float yaw, float pitch);
virtual void SetTwistSpeed(Vector3 velocity, float yawSpeed = 0.0F);
virtual void SetTwistSpeed(float forward, float yaw = 0.0F) override;
virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F) override;
virtual void SetTwistSpeed(Vector3 linear,
float yaw = 0.0F,
float pitch = 0.0F,
float roll = 0.0F) override;
Vector3 GetTargetVelocity();
float GetYawSpeed();