90 lines
3.9 KiB
C++
90 lines
3.9 KiB
C++
#pragma once
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#include "Propulsion.h"
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namespace Passer {
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namespace RoboidControl {
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/// @brief A two-wheeled Propulsion method
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///
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/// The wheels are put at either side of the roboid with the following behaviour
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/// * When both wheels spin forward, the Roboid moves forward
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/// * When both wheels spin backward, the Roboid moves backward
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/// * When both wheels are spinning in opposite directions, the Roboid rotates
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/// wihout moving forward or backward
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/// * When just one wheel is spinning, the Roboid turnes while moving forward or
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/// backward.
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class DifferentialDrive : public Propulsion {
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public:
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/// @brief Default constructor
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DifferentialDrive();
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/// @brief Setup of the DifferentialDrive with the Placement of the motors
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/// @param leftMotorPlacement Placement of the left Motor
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/// @param rightMotorPlacement Placement of the right Motor
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/// In this setup, the left motor Direction will be CounterClockWise when
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/// driving forward, while the right motor will turn Clockwise.
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/// @note When not using controlled motors, the placement of the motors is
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/// irrelevant.
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// DifferentialDrive(Placement leftMotorPlacement,
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// Placement rightMotorPlacement);
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DifferentialDrive(Motor *leftMotor, Motor *rightMotor);
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void SetDimensions(float wheelDiameter, float wheelSeparation);
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/// @brief Set the target speeds of the motors directly
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/// @param leftSpeed The target speed of the left Motor
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/// @param rightSpeed The target speed of the right Motor
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void SetMotorTargetSpeeds(float leftSpeed, float rightSpeed);
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/// @brief Controls the motors through forward and rotation speeds
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/// @param forward The target forward speed of the Roboid
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/// @param yaw The target rotation speed of the Roboid
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virtual void SetTwistSpeed(float forward, float yaw) override;
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/// @brief Controls the motors through forward and rotation speeds
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/// @param linear The target linear speed of the Roboid
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/// @param yaw The target rotation speed of the Roboid
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/// @note As a DifferentialDrive cannot move sideward, this function has the
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/// same effect as using the void SetTwistSpeed(float forward, float yaw)
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/// function.
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virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F);
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/// @brief Controls the motors through forward and rotation speeds
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/// @param linear The target linear speed
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/// @param yaw The target rotation speed around the vertical axis
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/// @param pitch Pitch is not supported and is ignored
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/// @param roll Roll is not supported and is ignores
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/// @note As a DifferentialDrive cannot move sideward or vertical, this
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/// function has the same effect as using the void SetTwistSpeed(float
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/// forward, float yaw) function.
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virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
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float pitch = 0.0F, float roll = 0.0F);
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// virtual void SetVelocity(Polar velocity);
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/// @brief Calculate the linear velocity of the roboid based on the wheel
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/// velocities
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/// @return The velocity of the roboid in local space
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/// @details The actual values may not be accurate, depending on the available
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/// information
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/// @remark This will be more expanded/detailed in a future version of Roboid
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/// Control
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// virtual Spherical16 GetVelocity() override;
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/// @brief Calculate the angular velocity of the roboid based on the wheel
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/// velocities
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/// @return The angular speed of the roboid in local space
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/// @details The actual value may not be accurate, depending on the available
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/// information
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/// @remark This will be more expanded/detailed in a future version of Roboid
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/// Control
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// virtual float GetAngularVelocity() override;
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protected:
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float wheelDiameter = 1.0F; // in meters
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float wheelSeparation = 1.0F; // in meters;
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float rpsToMs = 1.0F; // convert revolutions per second to meters per second
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};
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} // namespace RoboidControl
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} // namespace Passer
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using namespace Passer::RoboidControl; |