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Juan Jimeno 2018-11-23 01:13:14 +08:00
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@ -4,7 +4,7 @@ Arduino Kinematics library for differential drive(2WD, 4WD) and mecanum drive ro
The library requires the following robot's specification as an input: The library requires the following robot's specification as an input:
- Robot's maximum RPM - Robot's maximum RPM
- Distance between wheels (base width) - Distance between wheels (Front-Left and Front-Rear )
- Wheel's Diameter - Wheel's Diameter
## Functions ## Functions
@ -15,7 +15,7 @@ Object constructor which requires the robot's specification.
- WHEEL_DIAMETER : Robot wheel's diameter expressed in meters - WHEEL_DIAMETER : Robot wheel's diameter expressed in meters
- FR_WHEEL_DISTANCE : Distance between front wheel and rear wheel - FR_WHEEL_DISTANCE : Distance between front wheel and rear wheel
- LR_WHEEL_DISTANCE : Distance between left wheel and right wheel - LR_WHEEL_DISTANCE : Distance between left wheel and right wheel
- PWM_BITS : - PWM_BITS : PWM resolution of the Microcontroller. Arduino Uno/Mega, Teensy is 8 bits by default
#### 2. output getRPM(float linear_x, float linear_y, float angular_z) #### 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. 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.