Calculates motor velocities for the omni drive.
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#include <OmniDrive.h>
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| OmniDrive (const ComId &id) |
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void | setComId (const ComId &id) |
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void | setVelocity (float vx, float vy, float omega) |
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void | setVelocityPercent (float vx, float vy, float omega) |
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void | getDriveLayout (double *rb, double *rw, double *fctrl, double *gear, double *mer) |
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virtual void | driveLayoutChangedEvent (double rb, double rw, double fctrl, double gear, double mer) |
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| ComObject () |
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virtual | ~ComObject () |
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ComId | comId () const |
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Calculates motor velocities for the omni drive.
Directional and rotational coordinates are provided and velocities for the single motors are calculated.
- See also
- Motor
virtual void rec::robotino::api2::OmniDrive::driveLayoutChangedEvent |
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double |
rb, |
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double |
rw, |
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double |
fctrl, |
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double |
gear, |
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double |
mer |
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virtual |
Called when the drive layout changes.
- Parameters
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rb | Distance from robot center to wheel center in m. |
rw | Radius of the wheels in m. |
fctrl | Frequency of control loop measuring the speed in Hz. |
gear | Gear |
mer | Motor encoder resolution. |
- See also
- Com::processEvents
void rec::robotino::api2::OmniDrive::getDriveLayout |
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double * |
rb, |
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double * |
rw, |
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double * |
fctrl, |
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double * |
gear, |
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double * |
mer |
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) |
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Retrieves the layout parameters of the robots drive system from the server.
- Parameters
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rb | Distance from robot center to wheel center in m. |
rw | Radius of the wheels in m. |
fctrl | Frequency of control loop measuring the speed in Hz. |
gear | Gear |
mer | Motor encoder resolution. |
- Exceptions
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void rec::robotino::api2::OmniDrive::setComId |
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const ComId & |
id | ) |
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Sets the associated communication object.
- Parameters
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id | The id of the associated communication object. |
- Exceptions
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void rec::robotino::api2::OmniDrive::setVelocity |
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float |
vx, |
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float |
vy, |
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float |
omega |
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) |
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- Parameters
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vx | Velocity in x-direction in m/s |
vy | Velocity in y-direction in m/s |
omega | Angular velocity in rad/s |
void rec::robotino::api2::OmniDrive::setVelocityPercent |
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float |
vx, |
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float |
vy, |
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float |
omega |
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) |
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- Parameters
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vx | Velocity in x-direction in percent max speed |
vy | Velocity in y-direction in percent max speed |
omega | Angular velocity in percent max speed |
The documentation for this class was generated from the following file:
- /home/verbeek/srcs/openrobotino/api2/lib/rec/robotino/api2/OmniDrive.h