MotorInterface Class Reference

#include <control_interface.h>

Public Member Functions
	MotorInterface (float kp, float ki, float kd)
void	getData (const Task::Action &a)
float	get_L ()
float	get_R ()
void	adjust_gain (float angle_D, b2Transform observed, float *y_D=NULL)
	Adjusts L/R wheel gain, implements a PID controller with option to turn it into cascaded controller. More...
void	PID (float e)
	Implements a PID controller. More...
float	outer_loop (float e)
	Implements a P controller in the outer loop of the cascade controller. More...
void	reset ()
void	reset_error ()

Protected Attributes
float	L =0
float	R =0
float	L_gain =1.0f
float	R_gain =1.0f
float	Kp =0.45
float	Ki =0.25
float	Kd =0.2
float	prev_error =0
float	integral =0

Detailed Description

Input/Output interface for Configurator Receives LIDAR data Output from Configurator to Motors

Member Function Documentation

adjust_gain()

void MotorInterface::adjust_gain	(	float	angle_D,
		b2Transform	observed,
		float *	y_D = NULL
	)

Adjusts L/R wheel gain, implements a PID controller with option to turn it into cascaded controller.

Parameters

angle_D	desired angle from disturbance
observed	observed transform
y_D	desired distance from disturbance on the y axis (pointer so optional)

outer_loop()

float MotorInterface::outer_loop

(

float

e

)

Implements a P controller in the outer loop of the cascade controller.

max dl/dt and dr/dt = 2.0 (going from -1->1 and viceversa) max_corrective angle= ((max_dl-max_dr)/speed)*LIDAR_SAMPLING_RATE=(((-2-2)/0.2)*.15)*0.2= fabs(0.6)rad=34deg but this is not a typical case scenario. Usually the error is around 0.01-0.05rad for going straight. Since the angle is small, we want to keep Kp_outer around a plausible angle value. Distances will usually be +- 0.1m so the angle change will be in the range of 0.025-0.001 rad/s

Parameters

e	distance error

Returns

desired angle

PID()

void MotorInterface::PID

(

float

e

)

Implements a PID controller.

Parameters

e

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

• src/control_interface.h
• src/control_interface.cpp