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amiro-os / include / amiro / Odometry.h @ f336542d

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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_ */