rec::robotino::com::OmniDrive Class Reference

Calculates motor velocities for the omni drive. More...

#include <OmniDrive.h>

List of all members.

Public Member Functions
void	setVelocity (float vx, float vy, float omega)
void	project (float *m1, float *m2, float *m3, float vx, float vy, float omega) const
void	unproject (float *vx, float *vy, float *omega, float m1, float m2, float m3) const
void	setDriveLayout (double rb=125.0f, double rw=40.0, double fctrl=900.0, double gear=16, double mer=2000)
void	getDriveLayout (double *rb, double *rw, double *fctrl, double *gear, double *mer)

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Detailed Description

Calculates motor velocities for the omni drive.

Directional and rotational coordinates are provided and velocities for the single motors are calculated.

See also:

Motor

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Member Function Documentation

void rec::robotino::com::OmniDrive::setVelocity	(	float	vx,
		float	vy,
		float	omega
	)

Parameters:

	vx	Velocity in x-direction in mm/s
	vy	Velocity in y-direction in mm/s
	omega	Angular velocity in deg/s

void rec::robotino::com::OmniDrive::project	(	float *	m1,
		float *	m2,
		float *	m3,
		float	vx,
		float	vy,
		float	omega
	)			const

Project the velocity of the robot in cartesian coordinates to single motor speeds.

Parameters:

	m1	The resulting speed of motor 1 in rpm
	m2	The resulting speed of motor 2 in rpm
	m3	The resulting speed of motor 3 in rpm
	vx	Velocity in x-direction in mm/s
	vy	Velocity in y-direction in mm/s
	omega	Angular velocity in deg/s

Exceptions:

nothing.

void rec::robotino::com::OmniDrive::unproject	(	float *	vx,
		float *	vy,
		float *	omega,
		float	m1,
		float	m2,
		float	m3
	)			const

Project single motor speeds to velocity in cartesian coordinates.

Parameters:

	vx	The resulting speed in x-direction in mm/s
	vy	The resulting speed in y-direction in mm/s
	omega	The resulting angular velocity in deg/s
	m1	Speed of motor 1 in rpm
	m2	Speed of motor 2 in rpm
	m3	Speed of motor 3 in rpm

Exceptions:

nothing.

void rec::robotino::com::OmniDrive::setDriveLayout	(	double	rb = 125.0f,
		double	rw = 40.0,
		double	fctrl = 900.0,
		double	gear = 16,
		double	mer = 2000
	)

Sets the layout of the robots drive system in order to drive with mm/s. Default values are for Robotino.

Parameters:

	rb	Distance from robot center to wheel center.
	rw	Radius of the wheels.
	fctrl	Frequency of control loop measuring the speed.
	gear	Gear
	mer	Motor encoder resolution.

Exceptions:

nothing.

See also:

getDriveLayout

void rec::robotino::com::OmniDrive::getDriveLayout	(	double *	rb,
		double *	rw,
		double *	fctrl,
		double *	gear,
		double *	mer
	)

Retrieves the layout parameters of the robots drive system.

Parameters:

	rb	Distance from robot center to wheel center.
	rw	Radius of the wheels.
	fctrl	Frequency of control loop measuring the speed.
	gear	Gear
	mer	Motor encoder resolution.

Exceptions:

nothing.

See also:

setDriveLayout

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

• /home/verbeek/openrobotino_src/openrobotino1/lib/rec/robotino/com/OmniDrive.h