#include <aversive.h>#include <f64.h>#include "angle_distance.h"Go to the source code of this file.
Data Structures | |
| struct | robot_system |
Defines | |
| #define | RS_USE_EXT 1 |
| #define | RS_IGNORE_EXT_GAIN 2 |
| #define | RS_IGNORE_MOT_GAIN 4 |
Functions | |
| void | rs_init (struct robot_system *) |
| void | rs_set_left_pwm (struct robot_system *rs, void(*left_pwm)(void *, int32_t), void *left_pwm_param) |
| void | rs_set_right_pwm (struct robot_system *rs, void(*right_pwm)(void *, int32_t), void *right_pwm_param) |
| void | rs_set_left_ext_encoder (struct robot_system *rs, int32_t(*left_ext_encoder)(void *), void *left_ext_encoder_param, double gain) |
| void | rs_set_right_ext_encoder (struct robot_system *rs, int32_t(*right_ext_encoder)(void *), void *right_ext_encoder_param, double gain) |
| void | rs_set_angle (void *rs, int32_t angle) |
| void | rs_set_distance (void *rs, int32_t distance) |
| int32_t | rs_get_angle (void *rs) |
| int32_t | rs_get_distance (void *rs) |
| int32_t | rs_get_ext_angle (void *rs) |
| int32_t | rs_get_ext_distance (void *rs) |
| int32_t | rs_get_ext_left (void *rs) |
| int32_t | rs_get_ext_right (void *rs) |
| void | rs_update (void *rs) |
| void | rs_set_flags (struct robot_system *rs, uint8_t flags) |
| #define RS_IGNORE_EXT_GAIN 2 |
| #define RS_IGNORE_MOT_GAIN 4 |
| #define RS_USE_EXT 1 |
The goal of this module is to provide an interface to motor and encoders of the robot. This module provide a function that returns the value of virtual encoders containing distance and angle. It also allow the user to command virtual angle and distance PWMs.
Definition at line 38 of file robot_system.h.
Referenced by rs_update().
| int32_t rs_get_angle | ( | void * | data | ) |
get the virtual angle according to real encoders value.
Definition at line 238 of file robot_system.c.
References rs_polar::angle, IRQ_LOCK, IRQ_UNLOCK, and robot_system::virtual_encoders.
Referenced by __trajectory_goto_d_a_rel(), and trajectory_hardstop().
| int32_t rs_get_distance | ( | void * | data | ) |
get the virtual distance according to real encoders value.
Definition at line 253 of file robot_system.c.
References rs_polar::distance, IRQ_LOCK, IRQ_UNLOCK, and robot_system::virtual_encoders.
Referenced by __trajectory_goto_d_a_rel(), and trajectory_hardstop().
| int32_t rs_get_ext_angle | ( | void * | rs | ) |
get the angle according to ext encoders value.
Definition at line 265 of file robot_system.c.
References rs_polar::angle, IRQ_LOCK, IRQ_UNLOCK, and robot_system::pext_prev.
Referenced by position_manage(), and position_use_ext().
| int32_t rs_get_ext_distance | ( | void * | rs | ) |
get the distance according to ext encoders value.
Definition at line 277 of file robot_system.c.
References rs_polar::distance, IRQ_LOCK, IRQ_UNLOCK, and robot_system::pext_prev.
Referenced by position_manage(), and position_use_ext().
| int32_t rs_get_ext_left | ( | void * | rs | ) |
Definition at line 315 of file robot_system.c.
References IRQ_LOCK, IRQ_UNLOCK, rs_wheels::left, and robot_system::wext_prev.
| int32_t rs_get_ext_right | ( | void * | rs | ) |
Definition at line 327 of file robot_system.c.
References IRQ_LOCK, IRQ_UNLOCK, rs_wheels::right, and robot_system::wext_prev.
| void rs_init | ( | struct robot_system * | rs | ) |
Set the structure to 0
Definition at line 87 of file robot_system.c.
References IRQ_LOCK, and IRQ_UNLOCK.
| void rs_set_angle | ( | void * | data, | |
| int32_t | angle | |||
| ) |
set the real pwms according to the specified angle (it also depends on the last distance command sent)
Definition at line 193 of file robot_system.c.
References rs_polar::angle, rs_polar::distance, IRQ_LOCK, IRQ_UNLOCK, rs_wheels::left, robot_system::left_pwm, robot_system::left_pwm_param, rs_wheels::right, robot_system::right_pwm, robot_system::right_pwm_param, rs_get_wheels_from_polar(), and robot_system::virtual_pwm.
| void rs_set_distance | ( | void * | data, | |
| int32_t | distance | |||
| ) |
set the real pwms according to the specified distance (it also depends on the last angle command sent)
Definition at line 216 of file robot_system.c.
References rs_polar::angle, rs_polar::distance, IRQ_LOCK, IRQ_UNLOCK, rs_wheels::left, robot_system::left_pwm, robot_system::left_pwm_param, rs_wheels::right, robot_system::right_pwm, robot_system::right_pwm_param, rs_get_wheels_from_polar(), and robot_system::virtual_pwm.
| void rs_set_flags | ( | struct robot_system * | rs, | |
| uint8_t | flags | |||
| ) |
Definition at line 365 of file robot_system.c.
References robot_system::flags, IRQ_LOCK, and IRQ_UNLOCK.
| void rs_set_left_ext_encoder | ( | struct robot_system * | rs, | |
| int32_t(*)(void *) | left_ext_encoder, | |||
| void * | left_ext_encoder_param, | |||
| double | gain | |||
| ) |
define left external encoder function and param
Definition at line 162 of file robot_system.c.
References f64_from_double(), IRQ_LOCK, IRQ_UNLOCK, robot_system::left_ext_encoder, robot_system::left_ext_encoder_param, and robot_system::left_ext_gain.
| void rs_set_left_pwm | ( | struct robot_system * | rs, | |
| void(*)(void *, int32_t) | left_pwm, | |||
| void * | left_pwm_param | |||
| ) |
define left PWM function and param
Definition at line 112 of file robot_system.c.
References IRQ_LOCK, IRQ_UNLOCK, robot_system::left_pwm, and robot_system::left_pwm_param.
| void rs_set_right_ext_encoder | ( | struct robot_system * | rs, | |
| int32_t(*)(void *) | right_ext_encoder, | |||
| void * | right_ext_encoder_param, | |||
| double | gain | |||
| ) |
define right external encoder function and param
Definition at line 175 of file robot_system.c.
References f64_from_double(), IRQ_LOCK, IRQ_UNLOCK, robot_system::right_ext_encoder, robot_system::right_ext_encoder_param, and robot_system::right_ext_gain.
| void rs_set_right_pwm | ( | struct robot_system * | rs, | |
| void(*)(void *, int32_t) | right_pwm, | |||
| void * | right_pwm_param | |||
| ) |
define right PWM function and param
Definition at line 123 of file robot_system.c.
References IRQ_LOCK, IRQ_UNLOCK, robot_system::right_pwm, and robot_system::right_pwm_param.
| void rs_update | ( | void * | data | ) |
Read the encoders, and update internal virtual counters. Call this function is needed before reading the virtual encoders. The program will decide if it the external encoders or the motor encoders are taken in account (depending on flags, but not yet)
Read the encoders, and update internal virtual counters. Call this function is needed before reading the virtual encoders.The program will decide if it the external encoders or the motor encoders are taken in account (depending on flags, but not yet)
Definition at line 380 of file robot_system.c.
References rs_polar::angle, rs_polar::distance, f64_from_lsb(), f64_msb_mul(), robot_system::flags, IRQ_LOCK, IRQ_UNLOCK, rs_wheels::left, robot_system::left_ext_encoder, robot_system::left_ext_encoder_param, robot_system::left_ext_gain, robot_system::pext_prev, rs_wheels::right, robot_system::right_ext_encoder, robot_system::right_ext_encoder_param, robot_system::right_ext_gain, rs_get_polar_from_wheels(), rs_get_wheels_from_polar(), RS_IGNORE_EXT_GAIN, RS_IGNORE_MOT_GAIN, RS_USE_EXT, robot_system::virtual_encoders, and robot_system::wext_prev.
1.5.6