RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Add SetVelocity

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This commit is contained in:
Pascal Serrarens 2024-04-17 15:21:37 +02:00
parent b0d0258ad6
commit 6576a38f9b
2 changed files with 7 additions and 1 deletions
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4
DifferentialDrive.cpp
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@ -68,6 +68,10 @@ void DifferentialDrive::SetTwistSpeed(Vector3 linear, float yaw, float pitch,
SetTwistSpeed(linear.z, yaw); SetTwistSpeed(linear.z, yaw);
} }
void DifferentialDrive::SetVelocity(Polar velocity) {
SetTwistSpeed(velocity.distance, velocity.angle);
}
Polar DifferentialDrive::GetVelocity() { Polar DifferentialDrive::GetVelocity() {
Motor *leftMotor = motors[0]; Motor *leftMotor = motors[0];
Motor *rightMotor = motors[1]; Motor *rightMotor = motors[1];

4
DifferentialDrive.h
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@ -59,6 +59,8 @@ public:
virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F, virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
float pitch = 0.0F, float roll = 0.0F); float pitch = 0.0F, float roll = 0.0F);
virtual void SetVelocity(Polar velocity);
/// @brief Calculate the linear velocity of the roboid based on the wheel /// @brief Calculate the linear velocity of the roboid based on the wheel
/// velocities /// velocities
/// @return The velocity of the roboid in local space /// @return The velocity of the roboid in local space
@ -80,7 +82,7 @@ protected:
float wheelDiameter = 1.0F; // in meters float wheelDiameter = 1.0F; // in meters
float wheelSeparation = 1.0F; // in meters; float wheelSeparation = 1.0F; // in meters;
float rpsToMs; // convert revolutions per second to meters per second float rpsToMs = 1.0F; // convert revolutions per second to meters per second
}; };
} // namespace RoboidControl } // namespace RoboidControl