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76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
#ifndef TEST_VEHICLE_HH
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#define TEST_VEHICLE_HH
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/*************************************************************************
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PURPOSE: ()
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**************************************************************************/
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#include "Guidance/include/point.hh"
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#include "Control/include/vehicleController.hh"
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#include "Control/include/differentialDriveController.hh"
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#include "Motor/include/DCMotorSpeedController.hh"
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class VehicleOne {
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public:
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std::vector<Point> waypointQueue;
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Navigator *navigator;
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MotorSpeedController* rightMotorController;
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MotorSpeedController* leftMotorController;
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DCMotor* rightDCMotor;
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DCMotor* leftDCMotor;
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DifferentialDriveController* driveController;
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VehicleController* vehicleController;
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double distanceBetweenWheels; /* m */
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double wheelRadius; /* m */
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double vehicleMass; /* kg */
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double ZAxisMomentofInertia;
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// Vehicle Controller Parameters
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double slowDownDistance; /* m */
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double arrivalDistance; /* m */
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double wheelSpeedLimit; /* rad/s */
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double headingRateLimit; /* rad/s */
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double wheelDragConstant; /* -- */
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double corningStiffness; /* -- */
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// DCMotor Parameters
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double DCMotorInternalResistance; /* ohm */
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double DCMotorTorqueConstant; /* N*m/amp */
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double position[2]; /* m */
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double velocity[2]; /* m/s */
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double acceleration[2]; /* m/s2 */
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double heading; /* rad */
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double headingRate; /* rad/s */
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double headingAccel; /* rad/s2 */
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double rightMotorSpeed; /* rad/s */
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double leftMotorSpeed; /* rad/s */
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// Forces
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double driveForce[2]; /* N */
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double lateralTireForce[2]; /* N */
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double rollingResistForce[2]; /* N */
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double forceTotal[2]; /* N */
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double vehicleZTorque; /* N*m */
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double batteryVoltage;
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// Homing Button Variables
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// Get input from Trick server client for homing
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int homeCommanded;
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// If Wheelbot was homed and end of simulation
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bool endofHoming;
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void add_waypoint(double x, double y);
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int default_data();
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int state_init();
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void control();
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int state_deriv();
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int state_integ();
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};
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#endif
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