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Updates for SIM_wheelbot. Ref #438

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This commit is contained in:
John M. Penn 2017-06-06 14:20:12 -05:00
parent 876075e325
commit 11aa54d4a4
7 changed files with 28 additions and 16 deletions
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3
trick_sims/SIM_wheelbot/models/Control/include/differentialDriveController.hh
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@ -1,3 +1,6 @@
/*
* PURPOSE: (DifferentialDriveController class)
*/
#ifndef DIFFERENTIAL_DRIVE_CONTROLER_HH #ifndef DIFFERENTIAL_DRIVE_CONTROLER_HH
#define DIFFERENTIAL_DRIVE_CONTROLER_HH #define DIFFERENTIAL_DRIVE_CONTROLER_HH

3
trick_sims/SIM_wheelbot/models/Control/include/vehicleController.hh
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@ -1,3 +1,6 @@
/*
* PURPOSE: (VehicleController class)
*/
#ifndef VEHICLE_CONTROLLER_HH #ifndef VEHICLE_CONTROLLER_HH
#define VEHICLE_CONTROLLER_HH #define VEHICLE_CONTROLLER_HH

3
trick_sims/SIM_wheelbot/models/Guidance/include/point.hh
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@ -1,3 +1,6 @@
/*
* PURPOSE: (Class to represent a point)
*/
#ifndef POINT_HH #ifndef POINT_HH
#define POINT_HH #define POINT_HH
class Point { class Point {

3
trick_sims/SIM_wheelbot/models/Motor/include/DCMotorSpeedController.hh
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@ -1,3 +1,6 @@
/*
* PURPOSE: (DCMotorSpeedController class)
*/
#ifndef DC_MOTOR_SPEED_CONTROLLER_HH #ifndef DC_MOTOR_SPEED_CONTROLLER_HH
#define DC_MOTOR_SPEED_CONTROLLER_HH #define DC_MOTOR_SPEED_CONTROLLER_HH

3
trick_sims/SIM_wheelbot/models/Motor/include/motorSpeedController.hh
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@ -1,3 +1,6 @@
/*
* PURPOSE: (MotorSpeedController class)
*/
#ifndef MOTOR_SPEED_CONTROLLER_HH #ifndef MOTOR_SPEED_CONTROLLER_HH
#define MOTOR_SPEED_CONTROLLER_HH #define MOTOR_SPEED_CONTROLLER_HH

18
trick_sims/SIM_wheelbot/models/Vehicle/include/vehicleOne.hh
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@ -28,10 +28,10 @@ class VehicleOne {
// Vehicle Controller Parameters // Vehicle Controller Parameters
double slowDownDistance; /* m */ double slowDownDistance; /* m */
double arrivalDistance; /* m */ double arrivalDistance; /* m */
double wheelSpeedLimit; /* r/s */ double wheelSpeedLimit; /* rad/s */
double headingRateLimit; /* r/s */ double headingRateLimit; /* rad/s */
double wheelDragConstant; /* */ double wheelDragConstant; /* -- */
double corningStiffness; /* */ double corningStiffness; /* -- */
// DCMotor Parameters // DCMotor Parameters
double DCMotorInternalResistance; /* ohm */ double DCMotorInternalResistance; /* ohm */
@ -41,12 +41,12 @@ class VehicleOne {
double velocity[2]; /* m/s */ double velocity[2]; /* m/s */
double acceleration[2]; /* m/s2 */ double acceleration[2]; /* m/s2 */
double heading; /* r */ double heading; /* rad */
double headingRate; /* r/s */ double headingRate; /* rad/s */
double headingAccel; /* r/s2 */ double headingAccel; /* rad/s2 */
double rightMotorSpeed; /* r/s */ double rightMotorSpeed; /* rad/s */
double leftMotorSpeed; /* r/s */ double leftMotorSpeed; /* rad/s */
// Forces // Forces
double driveForce[2]; /* N */ double driveForce[2]; /* N */

11
trick_sims/SIM_wheelbot/models/Vehicle/src/vehicleOne.cpp
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@ -12,9 +12,6 @@ PROGRAMMERS:
#include "Vehicle/include/vehicleOne.hh" #include "Vehicle/include/vehicleOne.hh"
#include <iostream> #include <iostream>
#include <math.h> #include <math.h>
#ifndef PI
#define PI 3.1415926535
#endif
int VehicleOne::default_data() { int VehicleOne::default_data() {
@ -28,7 +25,7 @@ int VehicleOne::default_data() {
slowDownDistance = 0.5; slowDownDistance = 0.5;
arrivalDistance = 0.1; arrivalDistance = 0.1;
wheelSpeedLimit = 8.880; wheelSpeedLimit = 8.880;
headingRateLimit = PI/4; headingRateLimit = M_PI/4;
// DCMotor Parameters // DCMotor Parameters
// At 5v the following parameters will result in a current of // At 5v the following parameters will result in a current of
@ -179,7 +176,7 @@ int VehicleOne::state_deriv() {
return 0; return 0;
} }
#include "sim_services/Integrator/include/integrator_c_intf.h" #include "trick/integrator_c_intf.h"
int VehicleOne::state_integ() { int VehicleOne::state_integ() {
int integration_step; int integration_step;
@ -217,8 +214,8 @@ int VehicleOne::state_integ() {
); );
if (!integration_step) { if (!integration_step) {
if (heading < -PI) heading += 2*PI; if (heading < -M_PI) heading += 2*M_PI;
if (heading > PI) heading += -2*PI; if (heading > M_PI) heading += -2*M_PI;
} }
return(integration_step); return(integration_step);