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kinematics
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added distance between front and rear wheel argument

pull/2/head
Juan Jimeno 2018-11-23 01:11:42 +08:00
parent 45994bb785
commit 0f17a29ca2
1 changed files with 5 additions and 4 deletions
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@ -11,10 +11,11 @@ The library requires the following robot's specification as an input:
#### 1. Kinematics::Kinematics(int motor_max_rpm, float wheel_diameter, float base_width, int pwm_bits)
Object constructor which requires the robot's specification.
- motor_max_rpm : Maximum RPM of the motor
- wheel_diameter : Robot wheel's diameter expressed in meters
- base_width : Distance between wheels
- pwm_bits : PWM resolution of the Microcontroller. Arduino Uno/Mega, Teensy is 8 bits by default.
- MOTOR_MAX_RPM : Maximum RPM of the motor
- WHEEL_DIAMETER : Robot wheel's diameter expressed in meters
- FR_WHEEL_DISTANCE : Distance between front wheel and rear wheel
- LR_WHEEL_DISTANCE : Distance between left wheel and right wheel
- PWM_BITS :
#### 2. output getRPM(float linear_x, float linear_y, float angular_z)
Returns a Vector of Motor RPMs from a given linear velocity in x and y axis and angular velocity in z axis using right hand rule. The returned values can be used in a PID controller as "setpoint" vs a wheel encoder's feedback expressed in RPM.