103 lines
3.5 KiB
C++
103 lines
3.5 KiB
C++
#include "DifferentialDrive.h"
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#include "LinearAlgebra/Angle.h"
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#include "LinearAlgebra/FloatSingle.h"
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#include <math.h>
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DifferentialDrive::DifferentialDrive(){};
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DifferentialDrive::DifferentialDrive(Motor *leftMotor, Motor *rightMotor) {
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this->motorCount = 2;
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this->motors = new Motor *[2];
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this->motors[0] = leftMotor;
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this->motors[1] = rightMotor;
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float distance = this->wheelSeparation / 2;
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leftMotor->direction = Motor::Direction::CounterClockwise;
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leftMotor->position.angle = -90;
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leftMotor->position.distance = distance;
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rightMotor->direction = Motor::Direction::Clockwise;
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rightMotor->position.angle = 90;
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rightMotor->position.distance = distance;
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}
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void DifferentialDrive::SetDimensions(float wheelDiameter,
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float wheelSeparation) {
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this->wheelDiameter = wheelDiameter;
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this->wheelSeparation = wheelSeparation;
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this->rpsToMs = wheelDiameter * Angle::pi;
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float distance = this->wheelSeparation / 2;
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this->motors[0]->position.distance = distance;
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this->motors[1]->position.distance = distance;
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}
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void DifferentialDrive::SetMotorTargetSpeeds(float leftSpeed,
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float rightSpeed) {
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for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
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Motor *motor = motors[motorIx];
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if (motor == nullptr)
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continue;
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float xPosition = motors[motorIx]->position.angle;
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if (xPosition < 0)
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motor->SetTargetSpeed(leftSpeed);
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else if (xPosition > 0)
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motor->SetTargetSpeed(rightSpeed);
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};
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}
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void DifferentialDrive::SetTwistSpeed(float forward, float yaw) {
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float leftSpeed =
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Float::Clamp(forward - yaw, -1, 1); // revolutions per second
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float rightSpeed =
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Float::Clamp(forward + yaw, -1, 1); // revolutions per second
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float leftMotorSpeed = leftSpeed / rpsToMs; // meters per second
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float rightMotorSpeed = rightSpeed / rpsToMs; // meters per second
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SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
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}
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void DifferentialDrive::SetTwistSpeed(Vector2 linear, float yaw) {
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SetTwistSpeed(linear.y, yaw);
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}
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void DifferentialDrive::SetTwistSpeed(Vector3 linear, float yaw, float pitch,
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float roll) {
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SetTwistSpeed(linear.z, yaw);
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}
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Polar DifferentialDrive::GetVelocity() {
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Motor *leftMotor = motors[0];
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Motor *rightMotor = motors[1];
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float leftSpeed = leftMotor->GetActualSpeed(); // in revolutions per second
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float rightSpeed = rightMotor->GetActualSpeed(); // in revolutions per second
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leftSpeed = leftSpeed * rpsToMs; // in meters per second
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rightSpeed = rightSpeed * rpsToMs; // in meters per second
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float speed = (leftSpeed + rightSpeed) / 2;
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float direction = speed >= 0 ? 0.0F : 180.0F;
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float magnitude = fabsf(speed);
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Polar velocity = Polar(direction, magnitude);
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return velocity;
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}
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float DifferentialDrive::GetAngularVelocity() {
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Motor *leftMotor = motors[0];
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Motor *rightMotor = motors[1];
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float leftSpeed = leftMotor->GetActualSpeed(); // in revolutions per second
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float rightSpeed = rightMotor->GetActualSpeed(); // in revolutions per second
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leftSpeed = leftSpeed * rpsToMs; // in meters per second
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rightSpeed = rightSpeed * rpsToMs; // in meters per second
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float angularSpeed = (leftSpeed - rightSpeed) / 2;
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float angularDistance = wheelSeparation / 2 * Angle::pi;
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float rotationsPerSecond = angularSpeed / angularDistance;
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float degreesPerSecond = Angle::Normalize(360 * rotationsPerSecond);
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float angularVelocity = degreesPerSecond;
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return angularVelocity;
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} |