amiro-os / include / amiro / Odometry.h @ 19a69797
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#ifndef AMIRO_ODOMETRY_H_
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#define AMIRO_ODOMETRY_H_
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#include <amiro/MotorControl.h> |
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#include <amiro/gyro/l3g4200d.hpp> |
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#include <Types.h> // types::position |
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namespace amiro { |
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class Odometry : public chibios_rt::BaseStaticThread<512> {
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public:
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/**
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* Constructor
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*
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* @param mi object for retrieving the motor increments of the qei
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* @param gyro object for retrieving the gyroscope data
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* @param mc object for retrieving calibration parameters
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*/
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Odometry(MotorIncrements* mi, L3G4200D* gyroscope); |
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/**
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* Set the position of the roboter
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*
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* @param pX Position x in meter
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* @param pY Position y in meter
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* @param pPhi Orientation phi in radiant
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*/
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void setPosition(float pX, float pY, float pPhi); |
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/**
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* Reset the position to [0,0,0]
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*/
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void resetPosition();
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/**
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* Set the position of the roboter
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*
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* @param *Cp
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*/
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void setError(float* Cp); |
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/**
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* Reset the error to [0,0,0;0,0,0;0,0,0]
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*/
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void resetError();
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/**
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* Updates the wheelBaseDistance variable,
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* because it may change after an calibration.
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*/
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void updateWheelBaseDistance();
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/**
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* Get the current position
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* @return position
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*/
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types::position getPosition(); |
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chibios_rt::EvtSource* getEventSource(); |
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protected:
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virtual msg_t main(void);
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private:
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/**
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* Calculate the actual distance of both wheels
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*/
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void updateDistance();
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/**
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* This is th PID controller for controling
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* the speed. It gets the new duty cicle for the pwm
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* and saves it to this->pwmPercentage to reach the
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* target speed this->targetSpeed
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*/
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void updateOdometry();
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MotorIncrements* motorIncrements; // QEI driver
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L3G4200D* gyro; // Gyroscope driver
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chibios_rt::EvtSource eventSource; |
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const unsigned int period; |
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int incrementsPerRevolution;
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int updatesPerMinute;
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float wheelCircumference; // wheel circumference in meter |
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float wheelBaseDistanceSI; // Base width in meter |
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float distance[2]; // Moved distance per wheel in meter left:0 right:1 |
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float wheelError[2]; // error for left:0 and right:1 wheel |
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float pX, pY; // Position in meter |
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float pPhi; // Orientation in Rad |
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float Cp3x3[9]; // Covariance (position error) (3x3 matrix) |
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int32_t increment[2]; // Absolute number of difference since last update |
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float incrementDifference[2]; // Difference between old and current absolute increments |
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}; |
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} |
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#endif /* AMIRO_ODOMETRY_ */ |