Fawkes API
Fawkes Development Version
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#include <>>
Public Member Functions | |
BaseMotorInstruct (MotorInterface *motor, float frequency, Logger *logger, Configuration *config) | |
Constructor. More... | |
virtual | ~BaseMotorInstruct () |
Desctructor. More... | |
void | drive (float trans_x, float trans_y, float rot) |
Try to realize the proposed values with respect to the maximum allowed values. More... | |
void | stop () |
Executes a soft stop with respect to calculate_translation and calculate_rotation. More... | |
Protected Attributes | |
Logger * | logger_ |
The fawkes logger. More... | |
Configuration * | config_ |
The fawkse config. More... | |
float | trans_acc_ |
Translation acceleration. More... | |
float | trans_dec_ |
Translation deceleration. More... | |
float | rot_acc_ |
Rotation acceleration. More... | |
float | rot_dec_ |
Rotation deceleration. More... | |
The Basic of a Motorinstructor.
Definition at line 50 of file base_motor_instruct.h.
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inline |
Constructor.
Initializes all constants and the local pointers.
motor | The MotorInterface with all the motor information |
frequency | The frequency of the colli (should become deprecated!) |
logger | The fawkes logger |
config | The fawkes configuration |
Definition at line 107 of file base_motor_instruct.h.
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inlinevirtual |
Desctructor.
Definition at line 130 of file base_motor_instruct.h.
References fawkes::Interface::has_writer(), fawkes::Interface::id(), fawkes::Logger::log_warn(), logger_, fawkes::Interface::msgq_enqueue(), fawkes::colli_trans_rot_t::rot, fawkes::colli_trans_rot_t::x, and fawkes::colli_trans_rot_t::y.
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inline |
Try to realize the proposed values with respect to the maximum allowed values.
Try to realize the proposed values with respect to the physical constraints of the robot.
trans_x | the proposed x translation velocity |
trans_y | the proposed y translation velocity |
rot | the proposed rotation velocity |
Definition at line 181 of file base_motor_instruct.h.
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inline |
Executes a soft stop with respect to calculate_translation and calculate_rotation.
Executes a soft stop with respect to calculate_translation and calculate_rotation if it is called several times.
Definition at line 226 of file base_motor_instruct.h.
Referenced by ColliThread::loop().
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The fawkse config.
Definition at line 64 of file base_motor_instruct.h.
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The fawkes logger.
Definition at line 63 of file base_motor_instruct.h.
Referenced by ~BaseMotorInstruct().
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Rotation acceleration.
Definition at line 68 of file base_motor_instruct.h.
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Rotation deceleration.
Definition at line 69 of file base_motor_instruct.h.
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Translation acceleration.
Definition at line 66 of file base_motor_instruct.h.
Referenced by fawkes::LinearMotorInstruct::~LinearMotorInstruct(), and fawkes::QuadraticMotorInstruct::~QuadraticMotorInstruct().
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protected |
Translation deceleration.
Definition at line 67 of file base_motor_instruct.h.
Referenced by fawkes::LinearMotorInstruct::~LinearMotorInstruct(), and fawkes::QuadraticMotorInstruct::~QuadraticMotorInstruct().