72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
/*
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Copyright (c) 2016, Juan Jimeno
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Source: http://research.ijcaonline.org/volume113/number3/pxc3901586.pdf
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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Neither the name of nor the names of its contributors may be used to
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endorse or promote products derived from this software without specific
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prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORTPPIPI (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef KINEMATICS_H
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#define KINEMATICS_H
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#include "Arduino.h"
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class Kinematics
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{
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public:
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struct output
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{
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int motor1;
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int motor2;
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int motor3;
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int motor4;
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};
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struct velocities
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{
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float linear_x;
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float linear_y;
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float angular_z;
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};
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Kinematics(int motor_max_rpm, float wheel_diameter, float fr_wheels_dist, float lr_wheels_dist, int pwm_bits);
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velocities getVelocities(int motor1, int motor2);
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velocities getVelocities(int motor1, int motor2, int motor3, int motor4);
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output getRPM(float linear_x, float linear_y, float angular_z);
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output getPWM(float linear_x, float linear_y, float angular_z);
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int rpmToPWM(int rpm);
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private:
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float linear_vel_x_mins_;
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float linear_vel_y_mins_;
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float angular_vel_z_mins_;
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float circumference_;
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float tangential_vel_;
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float x_rpm_;
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float y_rpm_;
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float tan_rpm_;
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int max_rpm_;
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float fr_wheels_dist_;
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float lr_wheels_dist_;
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float pwm_res_;
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};
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#endif
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