A two-wheeled Propulsion method. More...

#include <DifferentialDrive.h>

Inheritance diagram for Passer::RoboidControl::DifferentialDrive:

Public Member Functions
	DifferentialDrive ()
	Default constructor.

	DifferentialDrive (Motor leftMotor, Motor rightMotor)
	Setup of the DifferentialDrive with the Placement of the motors.

void	SetDimensions (float wheelDiameter, float wheelSeparation)

void	SetMotorTargetSpeeds (float leftSpeed, float rightSpeed)
	Set the target speeds of the motors directly.

virtual void	SetTwistSpeed (float forward, float yaw) override
	Controls the motors through forward and rotation speeds.

virtual void	SetTwistSpeed (Vector2 linear, float yaw=0.0F)
	Controls the motors through forward and rotation speeds.

virtual void	SetTwistSpeed (Vector3 linear, float yaw=0.0F, float pitch=0.0F, float roll=0.0F)
	Controls the motors through forward and rotation speeds.

virtual void	SetVelocity (Polar velocity)

virtual Polar	GetVelocity () override
	Calculate the linear velocity of the roboid based on the wheel velocities.

virtual float	GetAngularVelocity () override
	Calculate the angular velocity of the roboid based on the wheel velocities.

void	Update (float currentTimeMs)
	Update the propulsion state of the Roboid.

unsigned int	GetMotorCount ()
	Get the number of motors in this roboid.

Motor *	GetMotor (unsigned int motorIx)
	Get a specific motor.

Public Attributes
Roboid *	roboid = nullptr
	The roboid of this propulsion system.

Protected Attributes
float	wheelDiameter = 1.0F

float	wheelSeparation = 1.0F

float	rpsToMs = 1.0F

unsigned int	motorCount = 0
	The number of motors used for Propulsion.

Motor **	motors = nullptr
	The Placement of the motors used for Propulsion.

Detailed Description

A two-wheeled Propulsion method.

The wheels are put at either side of the roboid with the following behaviour

When both wheels spin forward, the Roboid moves forward
When both wheels spin backward, the Roboid moves backward
When both wheels are spinning in opposite directions, the Roboid rotates wihout moving forward or backward
When just one wheel is spinning, the Roboid turnes while moving forward or backward.

Constructor & Destructor Documentation

◆ DifferentialDrive() [1/2]

DifferentialDrive::DifferentialDrive ( )

Default constructor.

◆ DifferentialDrive() [2/2]

DifferentialDrive::DifferentialDrive	(	Motor *	leftMotor,
		Motor *	rightMotor
	)

Setup of the DifferentialDrive with the Placement of the motors.

Parameters

leftMotorPlacement	Placement of the left Motor
rightMotorPlacement	Placement of the right Motor In this setup, the left motor Direction will be CounterClockWise when driving forward, while the right motor will turn Clockwise.

Note: When not using controlled motors, the placement of the motors is irrelevant.

Member Function Documentation

◆ SetDimensions()

void DifferentialDrive::SetDimensions	(	float	wheelDiameter,
		float	wheelSeparation
	)

◆ SetMotorTargetSpeeds()

void DifferentialDrive::SetMotorTargetSpeeds	(	float	leftSpeed,
		float	rightSpeed
	)

Set the target speeds of the motors directly.

Parameters

leftSpeed	The target speed of the left Motor
rightSpeed	The target speed of the right Motor

◆ SetTwistSpeed() [1/3]

void DifferentialDrive::SetTwistSpeed	(	float	forward,
		float	yaw
	)

overridevirtual

Controls the motors through forward and rotation speeds.

Parameters

forward	The target forward speed of the Roboid
yaw	The target rotation speed of the Roboid

Reimplemented from Passer::RoboidControl::Propulsion.

◆ SetTwistSpeed() [2/3]

void DifferentialDrive::SetTwistSpeed	(	Vector2	linear,
		float	yaw = `0.0F`
	)

virtual

Controls the motors through forward and rotation speeds.

Parameters

linear	The target linear speed of the Roboid
yaw	The target rotation speed of the Roboid

Note: As a DifferentialDrive cannot move sideward, this function has the same effect as using the void SetTwistSpeed(float forward, float yaw) function.

Reimplemented from Passer::RoboidControl::Propulsion.

◆ SetTwistSpeed() [3/3]

void DifferentialDrive::SetTwistSpeed	(	Vector3	linear,
		float	yaw = `0.0F`,
		float	pitch = `0.0F`,
		float	roll = `0.0F`
	)

virtual

Controls the motors through forward and rotation speeds.

Parameters

linear	The target linear speed
yaw	The target rotation speed around the vertical axis
pitch	Pitch is not supported and is ignored
roll	Roll is not supported and is ignores

Note: As a DifferentialDrive cannot move sideward or vertical, this function has the same effect as using the void SetTwistSpeed(float forward, float yaw) function.

Reimplemented from Passer::RoboidControl::Propulsion.

◆ SetVelocity()

void DifferentialDrive::SetVelocity ( Polar velocity )

virtual

Reimplemented from Passer::RoboidControl::Propulsion.

◆ GetVelocity()

Polar DifferentialDrive::GetVelocity ( )

overridevirtual

Calculate the linear velocity of the roboid based on the wheel velocities.

Returns: The velocity of the roboid in local space

The actual values may not be accurate, depending on the available information

Remarks: This will be more expanded/detailed in a future version of Roboid Control

Reimplemented from Passer::RoboidControl::Propulsion.

◆ GetAngularVelocity()

float DifferentialDrive::GetAngularVelocity ( )

overridevirtual

Calculate the angular velocity of the roboid based on the wheel velocities.

Returns: The angular speed of the roboid in local space

The actual value may not be accurate, depending on the available information

Remarks: This will be more expanded/detailed in a future version of Roboid Control

Reimplemented from Passer::RoboidControl::Propulsion.

◆ Update()

void Propulsion::Update ( float currentTimeMs )

inherited

Update the propulsion state of the Roboid.

Parameters

currentTimeMs The time in milliseconds when calling this

◆ GetMotorCount()

unsigned int Propulsion::GetMotorCount ( )

inherited

Get the number of motors in this roboid.

Returns: The number of motors. Zero when no motors are present

◆ GetMotor()

Motor * Propulsion::GetMotor ( unsigned int motorIx )

inherited

Get a specific motor.

Parameters

motorIx The index of the motor

Returns: Returns the motor or a nullptr when no motor with the given index could be found

Member Data Documentation

◆ wheelDiameter

float Passer::RoboidControl::DifferentialDrive::wheelDiameter = 1.0F

protected

◆ wheelSeparation

float Passer::RoboidControl::DifferentialDrive::wheelSeparation = 1.0F

protected

◆ rpsToMs

float Passer::RoboidControl::DifferentialDrive::rpsToMs = 1.0F

protected

◆ roboid

Roboid* Passer::RoboidControl::Propulsion::roboid = nullptr

inherited

The roboid of this propulsion system.

◆ motorCount

unsigned int Passer::RoboidControl::Propulsion::motorCount = 0

protectedinherited

The number of motors used for Propulsion.

◆ motors

Motor** Passer::RoboidControl::Propulsion::motors = nullptr

protectedinherited

The Placement of the motors used for Propulsion.

The documentation for this class was generated from the following files:

d:/PlatformIO/RoboidControl/DifferentialDrive.h
d:/PlatformIO/RoboidControl/DifferentialDrive.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DifferentialDrive() [1/2]

◆ DifferentialDrive() [2/2]

Member Function Documentation

◆ SetDimensions()

◆ SetMotorTargetSpeeds()

◆ SetTwistSpeed() [1/3]

◆ SetTwistSpeed() [2/3]

◆ SetTwistSpeed() [3/3]

◆ SetVelocity()

◆ GetVelocity()

◆ GetAngularVelocity()

◆ Update()

◆ GetMotorCount()

◆ GetMotor()

Member Data Documentation

◆ wheelDiameter

◆ wheelSeparation

◆ rpsToMs

◆ roboid

◆ motorCount

◆ motors