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This commit is contained in:
Tim Korjakow
2023-10-21 13:15:26 +02:00
parent c9518919b4
commit a4aa13d6a2
1222 changed files with 1056 additions and 51045 deletions
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106
src/dcaiti_control/description/assets/ft24_wheel.dae Normal file
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src/dcaiti_control/description/assets/ft24_wheel_simplified.dae Normal file
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53
src/dcaiti_control/description/bbox_camera.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
<joint name="camera_joint" type="fixed">
<parent link="chassis"/>
<child link="camera_link"/>
<origin xyz="0 0 1" rpy="0 0 0"/>
</joint>
<link name="camera_link">
<visual>
<geometry>
<box size="0.025 0.09 0.025"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="camera_optical_joint" type="fixed">
<parent link="camera_link"/>
<child link="camera_link_optical"/>
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
</joint>
<link name="camera_link_optical"></link>
<gazebo reference="camera_link">
<material>Gazebo/Black</material>
<sensor name="boundingbox_camera" type="boundingbox_camera">
<ignition_frame_id>camera_link_optical</ignition_frame_id>
<topic>boxes</topic>
<camera>
<box_type>2d</box_type>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.01</near>
<far>60</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>50</update_rate>
<visualize>false</visualize>
</sensor>
</gazebo>
</robot>

55
src/dcaiti_control/description/camera.xacro
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@ -1,55 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
<joint name="camera_joint" type="fixed">
<parent link="chassis"/>
<child link="camera_link"/>
<origin xyz="0.305 0 0.08" rpy="0 0 0"/>
</joint>
<link name="camera_link">
<visual>
<geometry>
<box size="0.010 0.03 0.03"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="camera_optical_joint" type="fixed">
<parent link="camera_link"/>
<child link="camera_link_optical"/>
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
</joint>
<link name="camera_link_optical"></link>
<gazebo reference="camera_link">
<material>Gazebo/Red</material>
<sensor name="camera" type="camera">
<pose> 0 0 0 0 0 0 </pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<camera>
<horizontal_fov>1.089</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<frame_name>camera_link_optical</frame_name>
</plugin>
</sensor>
</gazebo>
</robot>

36
src/dcaiti_control/description/gazebo_control.xacro
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@ -1,36 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<gazebo>
<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
<update_rate>30</update_rate>
<!-- Wheel Information -->
<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>
<wheel_separation>0.35</wheel_separation>
<wheel_diameter>0.1</wheel_diameter>
<!-- Limits -->
<max_wheel_torque>200</max_wheel_torque>
<max_wheel_acceleration>10.0</max_wheel_acceleration>
<!-- Output -->
<command_topic>cmd_vel</command_topic>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>true</publish_wheel_tf>
<odometry_topic>odom</odometry_topic>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
</gazebo>
</robot>

37
src/dcaiti_control/description/inertial_macros.xacro
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@ -36,5 +36,42 @@
</inertial>
</xacro:macro>
<!-- Math constants -->
<xacro:property name="math_pi" value="3.141592653589793" />
<xacro:property name="math_pi_over_2" value="1.5707963267948966" />
<xacro:property name="math_pi_over_4" value="0.785398163397448" />
<!-- Inertial for solid cuboid with dimensions x y z -->
<xacro:macro name="solid_cuboid_inertial" params="rpy xyz mass x y z">
<inertial>
<origin rpy="${rpy}" xyz="${xyz}"/>
<mass value="${mass}" />
<inertia
ixx="${mass * (y * y + z * z) / 12.0}" ixy="0.0" ixz="0.0"
iyy="${mass * (x * x + z * z) / 12.0}" iyz="0.0"
izz="${mass * (x * x + y * y) / 12.0}" />
</inertial>
</xacro:macro>
<!-- Inertial for solid cylinder with radius and length aligned to z-axis -->
<xacro:macro name="solid_cylinder_inertial" params="rpy xyz mass radius length">
<inertial>
<origin rpy="${rpy}" xyz="${xyz}"/>
<mass value="${mass}" />
<inertia
ixx="${mass * (3.0 * radius * radius + length * length) / 12.0}" ixy="0.0" ixz="0.0"
iyy="${mass * (3.0 * radius * radius + length * length) / 12.0}" iyz="0.0"
izz="${mass * (radius * radius) / 2.0}" />
</inertial>
</xacro:macro>
<!-- A null inertial - used in placeholder links to esure the model will work in Gazebo -->
<xacro:macro name="null_inertial">
<inertial>
<mass value="0.001"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</xacro:macro>
</robot>

42
src/dcaiti_control/description/robot.urdf.xacro
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@ -16,9 +16,28 @@
<xacro:arg name="wheel_radius" default="0.05"/>
<xacro:arg name="wheel_width" default="0.02"/>
<xacro:arg name="base_height" default="0.1"/>
<xacro:arg name="base_width" default="0.2"/>
<xacro:arg name="base_length" default="0.2"/>
<!-- Math constants -->
<xacro:property name="deg_to_rad" value="0.01745329251994329577"/>
<!-- Robot base dimensions -->
<xacro:property name="base_length" value="10.0" />
<xacro:property name="base_width" value="10.0" />
<xacro:property name="base_height" value="0.1" />
<xacro:property name="base_mass" value="5.0" />
<!-- Wheel link dimensions -->
<xacro:property name="wheel_radius" value="0.1" />
<xacro:property name="wheel_thickness" value="0.08" />
<xacro:property name="wheel_mass" value="1" />
<!-- Steering link dimensions -->
<xacro:property name="steer_radius" value="0.05" />
<xacro:property name="steer_thickness" value="0.02" />
<xacro:property name="steer_mass" value="1" />
<!-- Axle positions -->
<xacro:property name="axle_offset" value="-0.5" />
<xacro:property name="steer_offset" value="-0.5" />
@ -28,22 +47,13 @@
<!-- Include the inertial macros -->
<xacro:include filename="inertial_macros.xacro"/>
<!-- Include the gazebo control -->
<xacro:if value="$(arg use_ros2_control)">
<xacro:if value="$(arg use_sim)">
<xacro:include filename="ros2_control.xacro" />
</xacro:if>
<xacro:unless value="$(arg use_sim)">
<xacro:include filename="real_robot_control.xacro" />
</xacro:unless>
<xacro:if value="$(arg use_sim)">
<xacro:include filename="ros2_control.xacro" />
</xacro:if>
<xacro:unless value="$(arg use_ros2_control)">
<xacro:include filename="gazebo_control.xacro" />
<xacro:unless value="$(arg use_sim)">
<xacro:include filename="real_robot_control.xacro" />
</xacro:unless>
<!-- Sensors -->
<xacro:include filename="camera.xacro" />
<xacro:include filename="lidar.xacro" />
<xacro:include filename="robot_core.xacro" />
</robot>

194
src/dcaiti_control/description/robot_core.xacro
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@ -1,6 +1,8 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="wheel.xacro" />
<link name="base_link">
</link>
@ -36,131 +38,79 @@
</gazebo>
<!-- LEFT WHEEL LINK -->
<!-- Front steer and rear wheel joints required for ackermann_steering_controller -->
<xacro:front_steer
name="front"
parent="base"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_steer>
<link name="left_wheel">
<visual>
<geometry>
<cylinder radius="${0.31/(2*pi)}" length="0.04"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<!-- Better collosion behaviour than a cylinder -->
<sphere radius="${0.31/(2*pi)}"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="0.1" radius="${0.31/(2*pi)}" length="0.04">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>
<joint name="left_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="left_wheel"/>
<origin xyz="0 0.1075 0" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/>
</joint>
<xacro:rear_wheel
name="rear"
parent="base"
wheel_radius="${wheel_radius/4}"
wheel_thickness="${wheel_thickness/2}"
wheel_mass="${wheel_mass/32}">
<origin xyz="${-base_length/2+axle_offset} 0 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel>
<gazebo reference="left_wheel">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Steerable front wheels -->
<xacro:front_wheel_lr
name="front_right"
parent="base"
reflect="-1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_wheel_lr>
<xacro:front_wheel_lr
name="front_left"
parent="base"
reflect="1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_wheel_lr>
<!-- RIGHT WHEEL LINK -->
<link name="right_wheel">
<visual>
<geometry>
<!-- Better collosion behaviour than a cylinder -->
<cylinder radius="${0.31/(2*pi)}" length="0.04"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<sphere radius="${0.31/(2*pi)}" />
</geometry>
</collision>
<xacro:inertial_cylinder mass="0.1" radius="${0.31/(2*pi)}" length="0.04">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>
<joint name="right_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="right_wheel"/>
<origin xyz="0 -0.1075 0" rpy="${pi/2} 0 0" />
<axis xyz="0 0 -1"/>
</joint>
<gazebo reference="right_wheel">
<material>Gazebo/Grey</material>
</gazebo>
<!-- CASTER WHEEL LINK Front -->
<joint name="caster_wheel_joint_front" type="fixed">
<parent link="chassis"/>
<child link="caster_wheel_front"/>
<origin xyz="0.1 0 0"/>
</joint>
<link name="caster_wheel_front">
<visual>
<geometry>
<sphere radius="${0.31/(2*pi)}"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<sphere radius="${0.31/(2*pi)}"/>
</geometry>
</collision>
<xacro:inertial_sphere mass="0.1" radius="${0.31/(2*pi)}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_sphere>
</link>
<gazebo reference="caster_wheel_front">
<material>Gazebo/Black</material>
<mu1 value="0.001"/>
<mu2 value="0.001"/>
</gazebo>
<!-- CASTER WHEEL LINK BACK-->
<joint name="caster_wheel_joint_back" type="fixed">
<parent link="chassis"/>
<child link="caster_wheel_back"/>
<origin xyz="-0.1 0 0"/>
</joint>
<link name="caster_wheel_back">
<visual>
<geometry>
<sphere radius="${0.31/(2*pi)}"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<sphere radius="${0.31/(2*pi)}"/>
</geometry>
</collision>
<xacro:inertial_sphere mass="0.1" radius="${0.31/(2*pi)}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_sphere>
</link>
<gazebo reference="caster_wheel_back">
<material>Gazebo/Black</material>
<mu1 value="0.001"/>
<mu2 value="0.001"/>
</gazebo>
<!-- Rear wheels -->
<xacro:rear_wheel_lr
name="rear_right"
parent="base"
reflect="-1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}">
<origin xyz="${-base_length/2+axle_offset} ${-base_width/2-axle_offset} 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel_lr>
<xacro:rear_wheel_lr
name="rear_left"
parent="base"
reflect="1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}">
<origin xyz="${-base_length/2+axle_offset} ${+base_width/2+axle_offset} 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel_lr>
</robot>

38
src/dcaiti_control/description/ros2_control.xacro
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@ -1,28 +1,32 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
<ros2_control name="GazeboSystem" type="system">
<ros2_control name="GazeboSimSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
<joint name="rear_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</command_interface>
<state_interface name="velocity" />
<state_interface name="position" />
<joint name="rear_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="front_left_steer_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="front_right_steer_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(find dcaiti_control)/config/dcaiti_config.yml</parameters>
<parameters>$(find dcaiti_control)/config/gaz_ros2_ctl_sim.yml</parameters>
</plugin>

158
src/dcaiti_control/description/steerbot.urdf.xacro Normal file
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@ -0,0 +1,158 @@
<?xml version="1.0"?>
<!--
Robot model adapted from https://github.com/CIR-KIT/steer_drive_ros/blob/kinetic-devel/steer_drive_controller/test/common/urdf/steerbot.xacro
Modifications:
Remove base_footprint link. Useful for navigation but not necessary for a simple example.
Added materials for URDF
Updated inertials
Geometry:
The Ackermann steering controllers require the longitudinal
separation between the front and back wheel axes and the
lateral separation between the left and right front steering axes.
For this model:
wheel_separation_h = base_length - 2 * axle_offset = 0.4
wheel_separation_w = base_width + 2 * axle_offset = 0.4
-->
<robot name="steer_bot" xmlns:xacro="http://wiki.ros.org/xacro">
<!-- Include xacro for inertials, materials and wheels -->
<xacro:include filename="wheel.xacro"/>
<xacro:include filename="inertial_macros.xacro"/>
<xacro:property name="robot_namespace" value="/steer_bot"/>
<!-- Gazebo plugins -->
<gazebo>
<!-- Load ros_control plugin using the steer_bot_hardware_gazebo
implementation of the hardware_interface::RobotHW -->
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<robotNamespace>${robot_namespace}</robotNamespace>
</plugin>
</gazebo>
<!-- Math constants -->
<xacro:property name="deg_to_rad" value="0.01745329251994329577"/>
<!-- Robot base dimensions -->
<xacro:property name="base_length" value="10.0" />
<xacro:property name="base_width" value="10.0" />
<xacro:property name="base_height" value="0.1" />
<xacro:property name="base_mass" value="5.0" />
<!-- Wheel link dimensions -->
<xacro:property name="wheel_radius" value="0.1" />
<xacro:property name="wheel_thickness" value="0.08" />
<xacro:property name="wheel_mass" value="1" />
<!-- Steering link dimensions -->
<xacro:property name="steer_radius" value="0.05" />
<xacro:property name="steer_thickness" value="0.02" />
<xacro:property name="steer_mass" value="1" />
<!-- Axle positions -->
<xacro:property name="axle_offset" value="-0.5" />
<xacro:property name="steer_offset" value="-0.5" />
<!-- Base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
</collision>
<xacro:solid_cuboid_inertial
rpy="0 0 0" xyz="0 0 0"
mass="${base_mass}"
x="${base_length}" y="${base_width}" z="${base_height}" />
</link>
<!-- Front steer and rear wheel joints required for ackermann_steering_controller -->
<xacro:front_steer
name="front"
parent="base"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_steer>
<xacro:rear_wheel
name="rear"
parent="base"
wheel_radius="${wheel_radius/4}"
wheel_thickness="${wheel_thickness/2}"
wheel_mass="${wheel_mass/32}">
<origin xyz="${-base_length/2+axle_offset} 0 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel>
<!-- Steerable front wheels -->
<xacro:front_wheel_lr
name="front_right"
parent="base"
reflect="-1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_wheel_lr>
<xacro:front_wheel_lr
name="front_left"
parent="base"
reflect="1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_wheel_lr>
<!-- Rear wheels -->
<xacro:rear_wheel_lr
name="rear_right"
parent="base"
reflect="-1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}">
<origin xyz="${-base_length/2+axle_offset} ${-base_width/2-axle_offset} 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel_lr>
<xacro:rear_wheel_lr
name="rear_left"
parent="base"
reflect="1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}">
<origin xyz="${-base_length/2+axle_offset} ${+base_width/2+axle_offset} 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel_lr>
<!-- Colour -->
<gazebo reference="base_link">
<material>Gazebo/Green</material>
</gazebo>
</robot>

329
src/dcaiti_control/description/wheel.xacro Normal file
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@ -0,0 +1,329 @@
<?xml version="1.0"?>
<!--
Robot model adapted from https://github.com/CIR-KIT/steer_drive_ros/blob/kinetic-devel/steer_drive_controller/test/common/urdf/wheel.xacro
Modifications:
<transmissions> elements have been updated and added to 'front_steer'.
Update inertials.
Remove dependency on externally defined parameters.
-->
<robot name="wheel" xmlns:xacro="http://wiki.ros.org/xacro">
<!-- Include xacro for materials and inertials -->
<!-- Properties -->
<xacro:property name="steer_effort" value="100.0"/>
<xacro:property name="steer_velocity" value="20.0"/>
<xacro:property name="steer_limit_deg" value="45.0"/>
<!-- Bicycle model front steering link (required for steer_drive_controller) -->
<xacro:macro name="front_steer"
params="
name
parent
steer_radius
steer_thickness
steer_mass
base_length
base_width
axle_offset
steer_height">
<link name="${name}_steer_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${steer_radius}" length="${steer_thickness}"/>
</geometry>
<material name="yellow" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${steer_radius}" length="${steer_thickness}"/>
</geometry>
</collision>
<xacro:solid_cylinder_inertial
rpy="0 0 0" xyz="0 0 0"
mass="${steer_mass}"
radius="${steer_radius}" length="${steer_thickness}" />
</link>
<joint name="${name}_steer_joint" type="revolute">
<parent link="${parent}_link"/>
<child link="${name}_steer_link"/>
<origin xyz="${base_length/2-axle_offset} 0 ${steer_height}" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="${steer_effort}"
lower="${-180.0 * deg_to_rad}" upper="${180.0 * deg_to_rad}"
velocity="${steer_velocity}"/>
</joint>
<transmission name="${name}_steer_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_steer_joint_motor">
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
<joint name="${name}_steer_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<gazebo reference="${name}_steer_link">
<material>Gazebo/Yellow</material>
</gazebo>
</xacro:macro>
<!-- Car steering model front (steerable) wheel links (left/right) -->
<xacro:macro name="front_wheel_lr"
params="
name
parent
reflect
wheel_radius
wheel_thickness
wheel_mass
steer_radius
steer_thickness
steer_mass
base_length
base_width
axle_offset
steer_height">
<link name="${name}_steer_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${steer_radius}" length="${steer_thickness}"/>
</geometry>
<material name="blue" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${steer_radius}" length="${wheel_thickness}"/>
</geometry>
</collision>
<xacro:solid_cylinder_inertial
rpy="0 0 0" xyz="0 0 0"
mass="${steer_mass}"
radius="${steer_radius}" length="${steer_thickness}" />
</link>
<joint name="${name}_steer_joint" type="revolute">
<parent link="${parent}_link"/>
<child link="${name}_steer_link"/>
<origin xyz="${base_length/2-axle_offset} ${reflect*(base_width/2+axle_offset)} ${steer_height}" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="${steer_effort}"
lower="${steer_limit_deg * deg_to_rad * -1.0}" upper="${steer_limit_deg * deg_to_rad}"
velocity="${steer_velocity}"/>
</joint>
<link name="${name}_wheel_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="${-pi/2} ${(reflect * pi/2) + pi/2} 0"/>
<geometry>
<mesh filename="file://$(find dcaiti_control)/description/assets/ft24_wheel_simplified.dae" />
</geometry>
<material name="grey" />
</visual>
<xacro:solid_cylinder_inertial
rpy="0 0 0" xyz="0 0 0"
mass="${wheel_mass}"
radius="${wheel_radius}" length="${wheel_thickness}" />
</link>
<joint name="${name}_wheel_joint" type="continuous">
<parent link="${name}_steer_link"/>
<child link="${name}_wheel_link"/>
<origin xyz="0 0 ${-steer_height}" rpy="${-90 * deg_to_rad} 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<transmission name="${name}_steer_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_steer_joint_motor">
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
<joint name="${name}_steer_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="${name}_wheel_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_wheel_joint_motor">
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</actuator>
<joint name="${name}_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<gazebo reference="${name}_steer_link">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="${name}_wheel_link">
<material>Gazebo/Red</material>
</gazebo>
</xacro:macro>
<!-- Bicycle model rear wheel link (required for steer_drive_controller) -->
<xacro:macro name="rear_wheel"
params="
name
parent
wheel_radius
wheel_thickness
wheel_mass
*origin">
<link name="${name}_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
<material name="yellow" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
</collision>
<xacro:solid_cylinder_inertial
rpy="0 0 0" xyz="0 0 0"
mass="${wheel_mass}"
radius="${wheel_radius}" length="${wheel_thickness}" />
</link>
<joint name="${name}_wheel_joint" type="continuous">
<parent link="${parent}_link"/>
<child link="${name}_wheel_link"/>
<xacro:insert_block name="origin"/>
<axis xyz="0 0 1"/>
</joint>
<transmission name="${name}_wheel_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_wheel_joint_motor">
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</actuator>
<joint name="${name}_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<gazebo reference="${name}_wheel_link">
<material>Gazebo/Yellow</material>
</gazebo>
</xacro:macro>
<!-- Bicycle model front wheel link (passive - no transmission) -->
<xacro:macro name="front_wheel"
params="
name
parent
wheel_radius
wheel_thickness
wheel_mass
*origin">
<link name="${name}_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
<material name="yellow" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
</collision>
<xacro:solid_cylinder_inertial
rpy="0 0 0" xyz="0 0 0"
mass="${wheel_mass}"
radius="${wheel_radius}" length="${wheel_thickness}" />
</link>
<joint name="${name}_wheel_joint" type="continuous">
<parent link="${parent}_link"/>
<child link="${name}_wheel_link"/>
<xacro:insert_block name="origin"/>
<axis xyz="0 0 1"/>
</joint>
<gazebo reference="${name}_wheel_link">
<material>Gazebo/Yellow</material>
</gazebo>
<gazebo reference="${name}_wheel_joint">
<provideFeedback>true</provideFeedback>
</gazebo>
</xacro:macro>
<!-- Car steering model rear wheel links (left/right) -->
<xacro:macro name="rear_wheel_lr"
params="
name
parent
reflect
wheel_radius
wheel_thickness
wheel_mass
*origin">
<link name="${name}_wheel_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="${-pi/2} ${(reflect * pi/2) + pi/2} 0"/>
<geometry>
<mesh filename="file://$(find dcaiti_control)/description/assets/ft24_wheel_simplified.dae" />
</geometry>
<material name="silver" />
</visual>
<xacro:solid_cylinder_inertial
rpy="0 0 0" xyz="0 0 0"
mass="${wheel_mass}"
radius="${wheel_radius}" length="${wheel_thickness}" />
</link>
<joint name="${name}_wheel_joint" type="continuous">
<parent link="${parent}_link"/>
<child link="${name}_wheel_link"/>
<xacro:insert_block name="origin"/>
<axis xyz="0 0 1"/>
</joint>
<transmission name="${name}_wheel_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_wheel_joint_motor">
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</actuator>
<joint name="${name}_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<gazebo reference="${name}_wheel_link">
<material>Gazebo/Red</material>
</gazebo>
</xacro:macro>
</robot>

35
src/dcaiti_control/launch/launch_sim.py
View File

@ -2,7 +2,9 @@ import os
from ament_index_python.packages import get_package_share_directory
from launch.substitutions import Command
from launch.actions import IncludeLaunchDescription, TimerAction
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
@ -18,14 +20,12 @@ from launch.event_handlers import OnProcessExit
def generate_launch_description():
# Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled
# !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!
package_name='dcaiti_control' #<--- CHANGE ME
use_ros2_control = LaunchConfiguration('use_ros2_control')
world_path='worlds/willowgarage.world'
rsp = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
@ -33,29 +33,43 @@ def generate_launch_description():
)]), launch_arguments={'use_sim_time': 'true', 'use_ros2_control': use_ros2_control}.items()
)
gazebo_params_path = os.path.join(get_package_share_directory(package_name),'config','gazebo_config.yml')
world_path = os.path.join(get_package_share_directory(package_name),'worlds')
# Include the Gazebo launch file, provided by the gazebo_ros package
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
launch_arguments={'params_file': gazebo_params_path, 'world': world_path }.items()
get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')]),
launch_arguments=[('gz_args', [f" -r -v 1 {world_path}/empty.sdf"])],
)
# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
spawn_entity = Node(package='ros_gz_sim', executable='create',
arguments=[
'-topic', 'robot_description',
'-entity', 'dcaiti_control',
'-z', '0.2',
'-name', 'spawn_robot',
'-z', '0.5',
],
output='screen'
)
# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=[
'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
'/boxes_image@sensor_msgs/msg/Image@ignition.msgs.Image',
'/camera_info@sensor_msgs/msg/CameraInfo@ignition.msgs.CameraInfo',
'/lidar@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan',
'/lidar/points@sensor_msgs/msg/PointCloud2@ignition.msgs.PointCloudPacked'
],
output='screen'
)
diff_drive_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["diff_cont"],
arguments=["ackermann_steering_controller"],
)
joint_broad_spawner = Node(
@ -85,9 +99,10 @@ def generate_launch_description():
'use_ros2_control',
default_value='true',
description='Use ros2_control if true'),
bridge,
rsp,
gazebo,
spawn_entity,
delayed_diff_drive_spawner,
delayed_joint_broad_spawner
delayed_joint_broad_spawner,
])

134
src/dcaiti_control/worlds/empty.sdf Normal file
View File

@ -0,0 +1,134 @@
<?xml version="1.0" ?>
<!--
Try inserting a model:
gz service -s /world/empty/create \
--reqtype gz.msgs.EntityFactory \
--reptype gz.msgs.Boolean \
--timeout 300 \
--req 'sdf: '\
'"<?xml version=\"1.0\" ?>'\
'<sdf version=\"1.6\">'\
'<model name=\"spawned_model\">'\
'<link name=\"link\">'\
'<visual name=\"visual\">'\
'<geometry><sphere><radius>1.0</radius></sphere></geometry>'\
'</visual>'\
'<collision name=\"visual\">'\
'<geometry><sphere><radius>1.0</radius></sphere></geometry>'\
'</collision>'\
'</link>'\
'</model>'\
'</sdf>" '\
'pose: {position: {z: 10}} '\
'name: "new_name" '\
'allow_renaming: true'
Then try deleting it:
gz service -s /world/empty/remove \
--reqtype gz.msgs.Entity \
--reptype gz.msgs.Boolean \
--timeout 300 \
--req 'name: "new_name" type: MODEL'
Try inserting a light:
gz service -s /world/empty/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 300 --req 'sdf: '\
'"<?xml version=\"1.0\" ?>'\
'<sdf version=\"1.6\">'\
'<light name=\"spawned_light\" type=\"directional\">'\
'<pose>0 0 10 0.1 1.0 0</pose>'\
'</light>'\
'</sdf>"'
Then try deleting it:
gz service -s /world/empty/remove \
--reqtype gz.msgs.Entity \
--reptype gz.msgs.Boolean \
--timeout 300 \
--req 'name: "spawned_light" type: LIGHT'
Insert a light using a message and allow_renaming:
gz service -s /world/empty/create \
--reqtype gz.msgs.EntityFactory \
--reptype gz.msgs.Boolean \
--timeout 300 \
--req 'allow_renaming: true, light: {name: "spawned_light", type: 2, diffuse: {r: 1}}'
-->
<sdf version="1.6">
<world name="empty">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="ignition-gazebo-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<scene>
<shadows>false</shadows>
<grid>false</grid>
<origin_visual>false</origin_visual>
</scene>
<light type="directional" name="sun">
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>

39
src/dcaiti_control/worlds/labeled_cone.sdf Normal file
View File

@ -0,0 +1,39 @@
<model name="box">
<pose>0 -1 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 0 0.5 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 0.3 1</specular>
</material>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>10</label>
</plugin>
</visual>
</link>
</model>

31
src/dcaiti_navigation/CMakeLists.txt
View File

@ -1,31 +0,0 @@
cmake_minimum_required(VERSION 3.8)
project(dcaiti_navigation)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(
DIRECTORY config params launch worlds
DESTINATION share/${PROJECT_NAME}
)
ament_package()

233
src/dcaiti_navigation/config/ekf.yaml
View File

@ -1,233 +0,0 @@
### ekf config file ###
ekf_filter_node:
ros__parameters:
# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
# computation until it receives at least one message from one of the inputs. It will then run continuously at the
# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
frequency: 30.0
# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict
# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the
# filter will generate new output. Defaults to 1 / frequency if not specified.
sensor_timeout: 0.1
# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is
# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar
# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected
# by, for example, an IMU. Defaults to false if unspecified.
two_d_mode: true
# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for
# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if
# unspecified.
transform_time_offset: 0.0
# Use this parameter to provide specify how long the tf listener should wait for a transform to become available.
# Defaults to 0.0 if unspecified.
transform_timeout: 0.0
# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is
# unhappy with any settings or data.
print_diagnostics: true
# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by
# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious
# effects on the performance of the node. Defaults to false if unspecified.
debug: false
# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path.
debug_out_file: /home/focalfossa/dev_ws/src/basic_mobile_robot/debug_ekf.txt
# Whether we'll allow old measurements to cause a re-publication of the updated state
permit_corrected_publication: false
# Whether to publish the acceleration state. Defaults to false if unspecified.
publish_acceleration: false
# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified.
publish_tf: true
# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and
# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames.
# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be
# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom
# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your
# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based
# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame.
# ekf_localization_node and ukf_localization_node are not concerned with the earth frame.
# Here is how to use the following settings:
# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of
# odom_frame.
# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set
# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes.
# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates
# from landmark observations) then:
# 3a. Set your "world_frame" to your map_frame value
# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state
# estimation node from robot_localization! However, that instance should *not* fuse the global data.
map_frame: map # Defaults to "map" if unspecified
odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: base_footprint # Defaults to "base_link" if unspecified
world_frame: odom # Defaults to the value of odom_frame if unspecified
# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry,
# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped,
# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0,
# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no
# default values, and must be specified.
odom0: wheel/odometry
# Each sensor reading updates some or all of the filter's state. These options give you greater control over which
# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only
# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the
# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types
# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message
# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false
# if unspecified, effectively making this parameter required for each sensor.
odom0_config: [true, true, true,
false, false, false,
true, true, true,
false, false, true,
false, false, false]
# [x_pos , y_pos , z_pos,
# roll , pitch , yaw,
# x_vel , y_vel , z_vel,
# roll_vel, pitch_vel, yaw_vel,
# x_accel , y_accel , z_accel]
# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase
# the size of the subscription queue so that more measurements are fused.
odom0_queue_size: 2
# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result
# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's
# algorithm.
odom0_nodelay: false
# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under-
# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they
# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also
# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't
# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose
# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then
# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true
# for twist measurements has no effect.
odom0_differential: false
# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point"
# for all future measurements. While you can achieve the same effect with the differential paremeter, the key
# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before
# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true.
odom0_relative: false
# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to
# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to
# numeric_limits<double>::max() if unspecified. It is strongly recommended that these parameters be removed if not
# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation.
# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying
# the thresholds.
odom0_pose_rejection_threshold: 5.0
odom0_twist_rejection_threshold: 1.0
imu0: imu/data
imu0_config: [false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true]
# [x_pos , y_pos , z_pos,
# roll , pitch , yaw,
# x_vel , y_vel , z_vel,
# roll_vel, pitch_vel, yaw_vel,
# x_accel , y_accel , z_accel]
imu0_nodelay: false
imu0_differential: false
imu0_relative: true
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8 #
imu0_linear_acceleration_rejection_threshold: 0.8 #
# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.
imu0_remove_gravitational_acceleration: true
# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no
# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During
# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be
# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When
# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially
# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance
# for the velocity variable in question, or decrease the variance of the variable in question in the measurement
# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we
# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during
# predicition. Note that if an acceleration measurement for the variable in question is available from one of the
# inputs, the control term will be ignored.
# Whether or not we use the control input during predicition. Defaults to false.
use_control: false
# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to
# false.
stamped_control: false
# The last issued control command will be used in prediction for this period. Defaults to 0.2.
control_timeout: 0.2
# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw.
control_config: [true, false, false, false, false, true]
# Places limits on how large the acceleration term will be. Should match your robot's kinematics.
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
# Acceleration and deceleration limits are not always the same for robots.
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these
# gains
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these
# gains
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is
# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each
# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be.
# However, if users find that a given variable is slow to converge, one approach is to increase the
# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error
# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are
# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if
# unspecified.
process_noise_covariance: [0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.015]
# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal
# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in
# question. Users should take care not to use large values for variables that will not be measured directly. The values
# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below
#if unspecified.
initial_estimate_covariance: [1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9]

11
src/dcaiti_navigation/config/nav2.yml
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planner_server:
ros__parameters:
planner_plugins: ['GridBased']
GridBased:
plugin: 'nav2_navfn_planner/NavfnPlanner'
controller_server:
ros__parameters:
controller_plugins: ["FollowPath"]
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"

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src/dcaiti_navigation/config/slam.yml
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slam_toolbox:
ros__parameters:
base_frame: base_link
map_update_interval: 1.0
scan_topic: /scan_no_nan
odom_topic: /diff_cont/odom

0
src/dcaiti_navigation/dcaiti_navigation/__init__.py
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138
src/dcaiti_navigation/launch/start_nav2.py
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# Author: Addison Sears-Collins
# Date: September 2, 2021
# Description: Launch a basic mobile robot using the ROS 2 Navigation Stack
# https://automaticaddison.com
import os
from pathlib import Path
from ament_index_python import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, LaunchConfiguration, PythonExpression
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node, SetRemap
from launch.actions import GroupAction
def generate_launch_description():
# Set the path to different files and folders.
pkg_share = get_package_share_directory('dcaiti_navigation')
nav2_params_path = os.path.join(pkg_share, 'params', 'nav2_params.yaml')
behavior_tree_xml_path = os.path.join(get_package_share_directory('nav2_bt_navigator'), 'behavior_trees', 'navigate_w_replanning_and_recovery.xml')
# Launch configuration variables specific to simulation
autostart = LaunchConfiguration('autostart')
default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
map_yaml_file = LaunchConfiguration('map')
namespace = LaunchConfiguration('namespace')
params_file = LaunchConfiguration('params_file')
slam = LaunchConfiguration('slam')
use_namespace = LaunchConfiguration('use_namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
# Declare the launch arguments
declare_namespace_cmd = DeclareLaunchArgument(
name='namespace',
default_value='',
description='Top-level namespace')
declare_use_namespace_cmd = DeclareLaunchArgument(
name='use_namespace',
default_value='False',
description='Whether to apply a namespace to the navigation stack')
declare_autostart_cmd = DeclareLaunchArgument(
name='autostart',
default_value='true',
description='Automatically startup the nav2 stack')
declare_bt_xml_cmd = DeclareLaunchArgument(
name='default_bt_xml_filename',
default_value=behavior_tree_xml_path,
description='Full path to the behavior tree xml file to use')
declare_params_file_cmd = DeclareLaunchArgument(
name='params_file',
default_value=nav2_params_path,
description='Full path to the ROS2 parameters file to use for all launched nodes')
declare_use_sim_time_cmd = DeclareLaunchArgument(
name='use_sim_time',
default_value='False',
description='Use simulation (Gazebo) clock if true')
slam_params = os.path.join(
get_package_share_directory('dcaiti_navigation'), # <-- Replace with your package name
'params',
'nav2_params.yaml'
)
start_ros2_navigation_cmd = GroupAction(
actions=[
SetRemap(src='/cmd_vel',dst='/cmd_vel_nav'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('nav2_bringup'),'launch','navigation_launch.py')]),
launch_arguments={
'use_sim_time': 'false',
'-r': '/cmd_vel:=/cmd_vel_nav'
}.items()
)
]
)
slam_toolbox = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('slam_toolbox'),'launch','online_async_launch.py'
)]),
launch_arguments={
'use_sim_time': 'false',
'slam_params_file': slam_params}.items()
)
node_fix_lidar = Node(
package="dcaitirobot",
executable="fixlidar",
name="fixlidar",
)
tfs1 = Node(package = "tf2_ros",
executable = "static_transform_publisher",
arguments = ["0", "0", "0" ,"0", "0", "0", "base_link", "velodyne"])
tfs2 = Node(package = "tf2_ros",
executable = "static_transform_publisher",
arguments = ["0", "0", "0" ,"0", "0", "0", "base_link", "base_footprint"])
exploration = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('explore_lite'),'launch','explore.launch.py'
)]),
launch_arguments={
'use_sim_time': 'false'}.items()
)
# Create the launch description and populate
ld = LaunchDescription([
declare_namespace_cmd,
declare_use_namespace_cmd,
declare_autostart_cmd,
declare_bt_xml_cmd,
declare_params_file_cmd,
declare_use_sim_time_cmd,
start_ros2_navigation_cmd,
slam_toolbox,
node_fix_lidar,
tfs1,
tfs2,
exploration,
])
return ld

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src/dcaiti_navigation/maps/my_map.pgm
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src/dcaiti_navigation/maps/my_map.yaml
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image: my_map.pgm
mode: trinary
resolution: 0.05
origin: [-18.7, -17.5, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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src/dcaiti_navigation/maps/smalltown_world.pgm
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src/dcaiti_navigation/maps/smalltown_world.yaml
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image: smalltown_world.pgm
resolution: 0.050000
origin: [-51.224998, -51.224998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

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src/dcaiti_navigation/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>dcaiti_navigation</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="you@example.com">korjakow</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/dcaiti_navigation/params/nav2_params.yaml
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amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.002
alpha2: 0.002
alpha3: 0.002
alpha4: 0.002
alpha5: 0.002
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
initial_pose: [0.0, 0.0, 0.0, 0.0]
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "differential"
save_pose_rate: 0.5
set_initial_pose: False
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 5.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
amcl_map_client:
ros__parameters:
use_sim_time: False
amcl_rclcpp_node:
ros__parameters:
use_sim_time: False
bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_link
odom_topic: /diff_cont/odom #/wheel/odometry
bt_loop_duration: 10
default_server_timeout: 20
enable_groot_monitoring: True
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False
controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 2.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
#precise_goal_checker:
# plugin: "nav2_controller::SimpleGoalChecker"
# xy_goal_tolerance: 0.25
# yaw_goal_tolerance: 0.25
# stateful: True
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 5.0
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 10
height: 10
resolution: 0.05
footprint: "[ [0.21, 0.195], [0.21, -0.195], [-0.21, -0.195], [-0.21, 0.195] ]"
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan_no_nan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 9.5
obstacle_min_range: 0.0
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: False
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: False
robot_radius: 0.21
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan_no_nan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 10.0
raytrace_min_range: 0.0
obstacle_max_range: 9.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.95
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: False
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False
map_server:
ros__parameters:
use_sim_time: False
yaml_filename: "turtlebot3_world.yaml"
map_saver:
ros__parameters:
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 2.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: False
recoveries_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
recovery_plugins: ["spin", "backup", "wait"]
spin:
plugin: "nav2_recoveries/Spin"
backup:
plugin: "nav2_recoveries/BackUp"
wait:
plugin: "nav2_recoveries/Wait"
global_frame: odom
robot_base_frame: base_link
transform_timeout: 0.1
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: False
waypoint_follower:
ros__parameters:
loop_rate: 2
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
slam_toolbox:
ros__parameters:
# Plugin params
solver_plugin: solver_plugins::CeresSolver
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
ceres_preconditioner: SCHUR_JACOBI
ceres_trust_strategy: LEVENBERG_MARQUARDT
ceres_dogleg_type: TRADITIONAL_DOGLEG
ceres_loss_function: None
base_frame: base_link
map_update_interval: 0.1
scan_topic: /scan_no_nan
odom_topic: /odom
# if you'd like to immediately start continuing a map at a given pose
# or at the dock, but they are mutually exclusive, if pose is given
# will use pose
#map_file_name: test_steve
#map_start_pose: [0.0, 0.0, 0.0]
#map_start_at_dock: true
debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02 #if 0 never publishes odometry
map_update_interval: 0.5
resolution: 0.05
max_laser_range: 100.0 #for rastering images
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 30.
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
enable_interactive_mode: true
# General Parameters
use_scan_matching: true
use_scan_barycenter: true
minimum_travel_distance: 0.5
minimum_travel_heading: 0.5
scan_buffer_size: 10
scan_buffer_maximum_scan_distance: 10.0
link_match_minimum_response_fine: 0.1
link_scan_maximum_distance: 1.5
loop_search_maximum_distance: 3.0
do_loop_closing: true
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 3.0
loop_match_minimum_response_coarse: 0.35
loop_match_minimum_response_fine: 0.45
# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension: 0.5
correlation_search_space_resolution: 0.01
correlation_search_space_smear_deviation: 0.1
# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03
# Scan Matcher Parameters
distance_variance_penalty: 0.5
angle_variance_penalty: 1.0
fine_search_angle_offset: 0.00349
coarse_search_angle_offset: 0.349
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true

4084
src/dcaiti_navigation/worlds/basic_mobile_bot_world/smalltown.world
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49
src/dcaitirobot/.gitignore vendored
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@ -1,49 +0,0 @@
devel/
logs/
install/
build/
bin/
log/
msg_gen/
srv_gen/
msg/*Action.msg
msg/*ActionFeedback.msg
msg/*ActionGoal.msg
msg/*ActionResult.msg
msg/*Feedback.msg
msg/*Goal.msg
msg/*Result.msg
msg/_*.py
build_isolated/
devel_isolated/
# Generated by dynamic reconfigure
*.cfgc
/cfg/cpp/
/cfg/*.py
# Ignore generated docs
*.dox
*.wikidoc
# eclipse stuff
.project
.cproject
# qcreator stuff
CMakeLists.txt.user
srv/_*.py
*.pcd
*.pyc
qtcreator-*
*.user
/planning/cfg
/planning/docs
/planning/src
*~
# Emacs
.#*

0
src/dcaitirobot/dcaitirobot/__init__.py
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src/dcaitirobot/dcaitirobot/handle_nan_scan.py
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import numpy as np
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import LaserScan
import geometry_msgs.msg as gm
class TF2PublisherNode(Node):
""" The purpose of this node is to modify the LaserScan produced by velodyne so as to be compatible with slam_toolbox.
It seems there is an off-by-one error in slam_toolbox calculating the number of expected points in the scan,
resulting in warnings that /scan contains fewer points than expected.
"""
def __init__(self):
super().__init__('nanhandler')
self.create_subscription(LaserScan, "/scan", self.callback, 1)
self.pub = self.create_publisher(LaserScan, "/scan_no_nan", 1)
def callback(self, msg):
print(msg.ranges[0])
msg.ranges[0] = float("inf")
msg.intensities[0] = 0.0
msg.ranges.append(float("inf"))
msg.intensities.append(0.0)
self.pub.publish(msg)
def main(args=None):
rclpy.init(args=args)
tf2_publisher = TF2PublisherNode()
rclpy.spin(tf2_publisher)
tf2_publisher.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

276
src/dcaitirobot/dcaitirobot/joy.py
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@ -1,276 +0,0 @@
from math import atan2, degrees, sqrt
from struct import Struct
from time import sleep
from typing import List
import rclpy
from rclpy.context import Context
from rclpy.node import Node
from rclpy.parameter import Parameter
from sensor_msgs.msg import Joy
class JSEvent(object):
"""A joystick even class (struct)
struct js_event_t
{
uint32_t time;
int16_t value;
uint8_t type;
uint8_t id;
};
Takes in raw bytes from a file.read(JS_EVENT_SIZE) call.
Also defines AXIS and BUTTON ids
"""
JS_EVENT_SIZE = 8 # 64 bits is 8 bytes
EVENT_BUTTON = 0x01
EVENT_AXIS = 0x02
EVENT_INIT = 0x80
MAX_AXIS_COUNT = 27
MAX_BUTTON_COUNT = 18
AXIS_COUNT = 26
BUTTON_COUNT = 17
AXIS_LEFT_STICK_HORIZONTAL = 0
AXIS_LEFT_STICK_VERTICAL = 1
AXIS_RIGHT_STICK_HORIZONTAL = 2
AXIS_RIGHT_STICK_VERTICAL = 3
AXIS_DPAD_UP = 8
AXIS_DPAD_RIGHT = 9
AXIS_DPAD_DOWN = 10
AXIS_DPAD_LEFT = 11 # who knows what the left value should actually be...
AXIS_LEFT_TRIGGER = 12
AXIS_RIGHT_TRIGGER = 13
AXIS_LEFT_BUMPER = 14
AXIS_RIGHT_BUMPER = 15
AXIS_TRIANGLE = 16
AXIS_CIRCLE = 17
AXIS_X = 18
AXIS_SQUARE = 19
AXIS_ACCEL_X = 23 # note: left is positive, right is negative
AXIS_ACCEL_Y = 24 # note: back is positive, forward is negative
AXIS_ACCEL_Z = 25 # note: can't tell what sign is what
BUTTON_SELECT = 0
BUTTON_LEFT_JOYSTICK = 1
BUTTON_RIGHT_JOYSTICK = 2
BUTTON_START = 3
BUTTON_DPAD_UP = 4
BUTTON_DPAD_RIGHT = 5
BUTTON_DPAD_DOWN = 6
BUTTON_DPAD_LEFT = 7
BUTTON_LEFT_TRIGGER = 8
BUTTON_RIGHT_TRIGGER = 9
BUTTON_LEFT_BUMPER = 10
BUTTON_RIGHT_BUMPER = 11
BUTTON_TRIANGLE = 12
BUTTON_CIRCLE = 13
BUTTON_X = 14
BUTTON_SQUARE = 15
BUTTON_PS3 = 16
def __init__(self, event_struct):
# c.f. https://docs.python.org/3/library/struct.html#format-characters
s = Struct("< I h B B")
self.time, self.value, self.type, self.id = s.unpack(event_struct)
# also c.f. Struct.pack()
# ignore non-input events
self.type = self.type & ~self.EVENT_INIT
def __repr__(self):
struct = "struct js_event_t\n{"
# struct += '\n\tuint32_t time : {}'.format(self.time)
struct += "\n\tint16_t value : {}".format(self.value)
struct += "\n\tuint8_t type : {}".format(hex(self.type))
struct += "\n\tuint8_t id : {}".format(self.id)
struct += "\n};\n"
return struct
class Joystick(object):
def __init__(self, js_file="/dev/input/js1"):
# note names beginning with `__` are enforced as private
self.file = open(js_file, "rb")
# since we're using ID's as indices, account for 0 based indices
self.__axis_values = [0] * (JSEvent.MAX_AXIS_COUNT + 1)
# since we're using ID's as indices, account for 0 based indices
self.__button_values = [0] * (JSEvent.MAX_BUTTON_COUNT + 1)
self.update_id = -1
self.AxisUpdate = False
self.ButtonUpdate = False
self.event = None
def __del__(self):
self.file.close()
def __enter__(self):
return self
# __enter__ and __exit__ allow the context manager syntax
# with Joystick() as js:
# ...
def __exit__(self, exc_type, exc_value, traceback):
self.file.close()
def Update(self):
self.event = JSEvent(self.file.read(JSEvent.JS_EVENT_SIZE))
if self.event.type == JSEvent.EVENT_AXIS:
self.update_id = self.event.id
self.AxisUpdate = True
self.ButtonUpdate = False
self.__axis_values[self.event.id] = self.event.value
if self.event.type == JSEvent.EVENT_BUTTON:
self.update_id = self.event.id
self.AxisUpdate = False
self.ButtonUpdate = True
self.__button_values[self.event.id] = self.event.value
def getButtonState(self, button_id):
return self.__button_values[button_id]
def getAxisState(self, axis_id):
return self.__axis_values[axis_id]
class JoystickController(Joystick):
"""An implementation specific controller that inherits a basic Joystick. Adds the capability to
check for specific updates that you care about and then do something based on that.
"""
def __init__(self, js_file="/dev/input/js0"):
Joystick.__init__(self, js_file)
# direction gives the direction of travel. Defined in terms of r and theta
self.direction_vector = (0, 0)
# rotation tells the robot to rotate x degrees
self.rotation_vector = (0, 0)
def hasUpdate(self):
return self.ButtonUpdate or self.AxisUpdate
def performUpdates(self):
care_about_buttons = [
JSEvent.BUTTON_SELECT,
JSEvent.BUTTON_LEFT_JOYSTICK,
JSEvent.BUTTON_RIGHT_JOYSTICK,
JSEvent.BUTTON_START,
JSEvent.BUTTON_DPAD_UP,
JSEvent.BUTTON_DPAD_RIGHT,
JSEvent.BUTTON_DPAD_DOWN,
JSEvent.BUTTON_DPAD_LEFT,
JSEvent.BUTTON_LEFT_TRIGGER,
JSEvent.BUTTON_RIGHT_TRIGGER,
JSEvent.BUTTON_LEFT_BUMPER,
JSEvent.BUTTON_RIGHT_BUMPER,
JSEvent.BUTTON_TRIANGLE,
JSEvent.BUTTON_CIRCLE,
JSEvent.BUTTON_X,
JSEvent.BUTTON_SQUARE,
JSEvent.BUTTON_PS3,
]
care_about_axes = [
JSEvent.AXIS_LEFT_STICK_HORIZONTAL,
JSEvent.AXIS_LEFT_STICK_VERTICAL,
JSEvent.AXIS_RIGHT_STICK_HORIZONTAL,
JSEvent.AXIS_RIGHT_STICK_VERTICAL,
JSEvent.AXIS_DPAD_UP,
JSEvent.AXIS_DPAD_LEFT,
JSEvent.AXIS_DPAD_RIGHT,
JSEvent.AXIS_DPAD_DOWN,
JSEvent.AXIS_LEFT_TRIGGER,
JSEvent.AXIS_RIGHT_TRIGGER,
JSEvent.AXIS_LEFT_BUMPER,
JSEvent.AXIS_RIGHT_BUMPER,
JSEvent.AXIS_TRIANGLE,
JSEvent.AXIS_CIRCLE,
JSEvent.AXIS_X,
JSEvent.AXIS_SQUARE,
JSEvent.AXIS_ACCEL_X,
JSEvent.AXIS_ACCEL_Y,
JSEvent.AXIS_ACCEL_Z,
]
if self.ButtonUpdate and self.update_id in care_about_buttons:
self.__button_update()
if self.AxisUpdate and self.update_id in care_about_axes:
self.__axis_update()
def __button_update(self):
pass
def __axis_update(self):
pass
class JoyNode(Node):
def __init__(
self,
node_name: str,
*,
context: Context = None,
cli_args: List[str] = None,
namespace: str = None,
use_global_arguments: bool = True,
enable_rosout: bool = True,
start_parameter_services: bool = True,
parameter_overrides: List[Parameter] = None,
allow_undeclared_parameters: bool = False,
automatically_declare_parameters_from_overrides: bool = False,
) -> None:
super().__init__(
node_name,
context=context,
cli_args=cli_args,
namespace=namespace,
use_global_arguments=use_global_arguments,
enable_rosout=enable_rosout,
start_parameter_services=start_parameter_services,
parameter_overrides=parameter_overrides,
allow_undeclared_parameters=allow_undeclared_parameters,
automatically_declare_parameters_from_overrides=automatically_declare_parameters_from_overrides,
)
self.pub = self.create_publisher(Joy, "/joy", 1)
def run(self):
msg = Joy()
msg.axes = [0.0, 0.0]
msg.buttons = [0]
with JoystickController("/dev/input/js0") as controller:
while rclpy.ok():
controller.Update()
sleep(0.0001)
if controller.hasUpdate():
hor = controller.getAxisState(JSEvent.AXIS_LEFT_STICK_HORIZONTAL)
ver = controller.getAxisState(JSEvent.AXIS_LEFT_STICK_VERTICAL)
button_change_mode = controller.getButtonState(JSEvent.BUTTON_CIRCLE) # it says circle but it actually is dpad up
self.get_logger().info(str(button_change_mode))
hor /= 2**15
ver /= 2**15
msg.axes[JSEvent.AXIS_LEFT_STICK_HORIZONTAL] = hor
msg.axes[JSEvent.AXIS_LEFT_STICK_VERTICAL] = ver
msg.buttons[0] = button_change_mode
self.pub.publish(msg)
def main(args=None):
rclpy.init(args=args)
node = JoyNode("test")
node.run()
rclpy.shutdown()
if __name__ == "__main__":
main()

270
src/dcaitirobot/dcaitirobot/serial_comms.py
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import multiprocessing as mp
import struct
import threading
import time
from threading import Thread
from typing import List
import rclpy
import serial
from rclpy.client import Client
from rclpy.context import Context
from rclpy.node import Node
from rclpy.parameter import Parameter
from std_msgs.msg import Float32MultiArray
start_time = time.time() * 1000
def read_message_from_serial_stream_and_publish(stream: serial.Serial, speed_publisher):
"""
Read a message from the given serial stream.
:param stream: The serial stream.
:return: The message.
"""
while stream.is_open:
# Read until we find the start of a message.
while stream.read(1) != b"\xAA":
pass
# Read the rest of the message.
frame_type = stream.read(1)
if frame_type.hex() == "00":
message_type = "measurement"
elif frame_type.hex() == "20":
message_type = "command"
elif frame_type.hex() == "40":
message_type = "response"
else:
# print("Invalid frame type: %s" % frame_type)
continue
frame_length = stream.read(1)
frame_component = stream.read(1)
if frame_component.hex() == "00":
component = "default"
elif frame_component.hex() == "10":
component = "left_motor"
elif frame_component.hex() == "20":
component = "right_motor"
elif frame_component.hex() == "30":
component = "both_motor"
else:
# print("Invalid frame component: %s" % frame_component.hex())
continue
timestamp = stream.read(4)
payload = stream.read(int.from_bytes(frame_length, byteorder="big"))
checksum = stream.read(2)
# Check the checksum.
if sum(payload) != int.from_bytes(checksum, byteorder="big"):
# print("Invalid checksum")
# print(message_type,component,timestamp,payload,checksum)
continue
# Handle message contents.
if message_type == "measurement":
if component == "left_motor":
track_speed_left = struct.unpack(">f", payload[0:4])[0]
elif component == "right_motor":
track_speed_right = struct.unpack(">f", payload[0:4])[0]
elif component == "both_motor":
try:
track_speed_right = struct.unpack(">f", payload[0:4])[0]
track_speed_left = struct.unpack(">f", payload[4:8])[0]
except Exception as e:
# print(e)
# print("Invalid payload: %s" % payload.hex())
continue
msg = Float32MultiArray()
msg.data = [track_speed_left, track_speed_right]
# msg.header.stamp = node.get_clock().now().to_msg()
speed_publisher.publish(msg)
elif message_type == "command":
if payload == b"\x02":
print("RESET_TIMESTAMP")
global start_time
start_time = time.time() * 1000
def create_uart_message(
message_type="default", component="default", payload=b"", timestamp=0
):
"""
Create a UART message.
:param message_type: The type of the message.
:param component: The component of the message.
:param payload: The payload of the message.
:param timestamp: The timestamp of the message.
:return: The UART message.
"""
# Create the header.
message_type_bytes = None
if message_type == "measurement":
message_type_bytes = b"\x00"
elif message_type == "command":
message_type_bytes = b"\x20"
elif message_type == "response":
message_type_bytes = b"\x40"
else:
raise ValueError("Invalid message type: %s" % message_type)
component_bytes = None
if component == "default":
component_bytes = b"\x00"
elif component == "left_motor":
component_bytes = b"\x10"
elif component == "right_motor":
component_bytes = b"\x20"
elif component == "both_motor":
component_bytes = b"\x30"
else:
raise ValueError("Invalid component: %s" % component)
# Create the payload.
payload = bytearray(payload)
# Create the timestamp.
timestamp = bytearray(timestamp.to_bytes(4, byteorder="big"))
# Create the checksum.
checksum = bytearray(sum(payload).to_bytes(2, byteorder="little"))
# Create the message.
message = bytearray()
message.append(0xAA)
message.extend(message_type_bytes)
message.extend(len(payload).to_bytes(1, byteorder="big"))
message.extend(component_bytes)
message.extend(timestamp)
message.extend(payload)
message.extend(checksum)
# print(''.join([ "%02x" % b for b in message ]))
return message
class ROS2UARTNode(Node):
def __init__(
self,
node_name: str,
ser: serial.Serial,
*,
context: Context = None,
cli_args: List[str] = None,
namespace: str = None,
use_global_arguments: bool = True,
enable_rosout: bool = True,
start_parameter_services: bool = True,
parameter_overrides: List[Parameter] = None,
allow_undeclared_parameters: bool = False,
automatically_declare_parameters_from_overrides: bool = False
) -> None:
super().__init__(
node_name,
context=context,
cli_args=cli_args,
namespace=namespace,
use_global_arguments=use_global_arguments,
enable_rosout=enable_rosout,
start_parameter_services=start_parameter_services,
parameter_overrides=parameter_overrides,
allow_undeclared_parameters=allow_undeclared_parameters,
automatically_declare_parameters_from_overrides=automatically_declare_parameters_from_overrides,
)
self.create_subscription(Float32MultiArray, "/track_speeds", self.callback, 1)
self.left_speed = 0
self.right_speed = 0
self.ser = ser
def callback(self, msg: Float32MultiArray) -> None:
print(msg.data)
assert len(msg.data) == 2
self.left_speed, self.right_speed = msg.data
self.left_speed /= 1
self.right_speed /= 1
left_byte = struct.pack(">f", self.left_speed)
right_byte = struct.pack(">f", self.right_speed)
self.ser.write(
create_uart_message(
message_type="command",
component="both_motor",
payload=b"\x01" + left_byte + right_byte,
timestamp=0,
)
)
self.ser.flush()
class UART2ROSNode(Node):
def __init__(
self,
node_name: str,
ser: serial.Serial,
*,
context: Context = None,
cli_args: List[str] = None,
namespace: str = None,
use_global_arguments: bool = True,
enable_rosout: bool = True,
start_parameter_services: bool = True,
parameter_overrides: List[Parameter] = None,
allow_undeclared_parameters: bool = False,
automatically_declare_parameters_from_overrides: bool = False
) -> None:
super().__init__(
node_name,
context=context,
cli_args=cli_args,
namespace=namespace,
use_global_arguments=use_global_arguments,
enable_rosout=enable_rosout,
start_parameter_services=start_parameter_services,
parameter_overrides=parameter_overrides,
allow_undeclared_parameters=allow_undeclared_parameters,
automatically_declare_parameters_from_overrides=automatically_declare_parameters_from_overrides,
)
self.speed_publisher = self.create_publisher(Float32MultiArray, "topic", 10)
self.ser = ser
read_message_from_serial_stream_and_publish()
def destroy_node(self) -> bool:
self.process.join()
return super().destroy_node()
def main(args=None) -> None:
with serial.Serial("/dev/ttyUSB1", 115200, timeout=0.001) as ser:
rclpy.init(args=args)
ros2uart = ROS2UARTNode(node_name="ros2uart", ser=ser)
# uart2ros = UART2ROSNode(node_name='uart2ros', ser=ser)
executor = rclpy.executors.MultiThreadedExecutor()
# executor.add_node(uart2ros)
executor.add_node(ros2uart)
executor_thread = threading.Thread(target=executor.spin, daemon=True)
executor_thread.start()
# loop while not interrupted
curr_time = time.time()
rate = ros2uart.create_rate(2)
try:
while rclpy.ok():
print("Help me body, you are my only hope")
rate.sleep()
except KeyboardInterrupt:
pass
rclpy.shutdown()
executor_thread.join()
if __name__ == "__main__":
main()

105
src/dcaitirobot/dcaitirobot/speed.py
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@ -1,105 +0,0 @@
"""
This file is not required anymore. It was our first, naive approach to translate Joy messages to track speeds for the robot.
It is referenced in the project report, which is why we decided to keep it in the repo.
"""
import math
from typing import List
import numpy as np
import rclpy
from rclpy.context import Context
from rclpy.node import Node
from rclpy.parameter import Parameter
from sensor_msgs.msg import Joy
from std_msgs.msg import Float32MultiArray
def calc_left_power(angle: float) -> float:
angle_deg = math.degrees(angle)
if -180 <= angle_deg < -90:
return 2 / 90 * (angle_deg + 180) - 1
elif -90 <= angle_deg < 0:
return 1
elif 0 <= angle_deg < 90:
return -2 / 90 * angle_deg + 1
elif 90 <= angle_deg <= 180:
return -1
def calc_right_power(angle: float) -> float:
angle_deg = math.degrees(angle)
if -180 <= angle_deg < -90:
return -1
elif -90 <= angle_deg < 0:
return 2 / 90 * (angle_deg + 90) - 1
elif 0 <= angle_deg < 90:
return 1
elif 90 <= angle_deg <= 180:
return -2 / 90 * (angle_deg - 90) + 1
def calc_power_from_euclidean_joystick(x, y):
x, y = y, -x # rotate 90 so that up is 0 degress
r = np.linalg.norm([x, y]) / np.sqrt(2)
angle = np.arctan2(y, x)
return calc_left_power(angle) * r, calc_right_power(angle) * r
class JoystickSpeedDistributorNode(Node):
def __init__(
self,
node_name: str,
*,
context: Context = None,
cli_args: List[str] = None,
namespace: str = None,
use_global_arguments: bool = True,
enable_rosout: bool = True,
start_parameter_services: bool = True,
parameter_overrides: List[Parameter] = None,
allow_undeclared_parameters: bool = False,
automatically_declare_parameters_from_overrides: bool = False
) -> None:
super().__init__(
node_name,
context=context,
cli_args=cli_args,
namespace=namespace,
use_global_arguments=use_global_arguments,
enable_rosout=enable_rosout,
start_parameter_services=start_parameter_services,
parameter_overrides=parameter_overrides,
allow_undeclared_parameters=allow_undeclared_parameters,
automatically_declare_parameters_from_overrides=automatically_declare_parameters_from_overrides,
)
self.l = 0.1
self.create_subscription(Joy, "/joy", self.joy_callback, 1)
self.pub = self.create_publisher(Float32MultiArray, "/track_speeds", 1)
def joy_callback(self, joy_message):
x, y = joy_message.axes[:2]
y = -y
powers = calc_power_from_euclidean_joystick(x, y)
msg = Float32MultiArray()
msg.data = list(map(float, powers))
self.pub.publish(msg)
def main(args=None) -> None:
rclpy.init(args=args)
node = JoystickSpeedDistributorNode("speed_distributor")
rclpy.spin(node)
rclpy.shutdown()
if __name__ == "__main__":
main()

106
src/dcaitirobot/dcaitirobot/twist.py
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@ -1,106 +0,0 @@
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
from std_msgs.msg import String
from sensor_msgs.msg import Joy
import numpy as np
SCALE_LINEAR_VELOCITY = 0.2
SCALE_ANGULAR_VELOCITY = 0.7
PUBLISH_FREQUENCY_HZ = 30
SMOOTH_WEIGHTS = np.array([1, 2, 4, 10, 20])
class TwistPublisher(Node):
"""
This node serves as a bridge between the Joy messages published from the PS3 controller
interface in joy.py and the Twist messages expected by ros_control.
"""
def __init__(
self,
smooth_weights=np.ones(5),
linear_scale=1.0,
angular_scale=1.0,
publish_frequency_hz=30,
):
super().__init__("twist_publisher")
self.mode = "manual"
self.linear_window = np.zeros(smooth_weights.shape[0])
self.angular_window = np.zeros(smooth_weights.shape[0])
self.linear_recent = 0.0
self.angular_recent = 0.0
self.linear_out = 0.0
self.angular_out = 0.0
self.weights = smooth_weights / smooth_weights.sum()
self.window_size = smooth_weights.shape[0]
self.linear_scale = linear_scale
self.angular_scale = angular_scale
self.publisher_2 = self.create_publisher(Twist, "/cmd_vel_joystick", 1)
self.create_subscription(Joy, "/joy", self.joy_callback, 1)
self.timer = self.create_timer(1 / publish_frequency_hz, self.timer_callback)
def joy_callback(self, joy_message):
x, y = joy_message.axes[:2]
self.linear_recent = -y * SCALE_LINEAR_VELOCITY
self.angular_recent = x * SCALE_ANGULAR_VELOCITY
if joy_message.buttons[0]:
self.mode = "manual" if self.mode == "auto" else "auto"
self.get_logger().info(f"Switching to {self.mode!r} mode")
def update_smooth_window(self):
self.linear_window = np.append(self.linear_window, self.linear_recent)[
-self.window_size :
]
self.angular_window = np.append(self.angular_window, self.angular_recent)[
-self.window_size :
]
def calc_smooth_speed(self):
self.linear_out = np.average(self.linear_window, weights=self.weights)
self.angular_out = np.average(self.angular_window, weights=self.weights)
def timer_callback(self):
if self.mode != "manual":
return
msg = Twist()
self.update_smooth_window()
self.calc_smooth_speed()
msg.linear.x = self.linear_out
msg.angular.z = self.angular_out
self.publisher_2.publish(msg)
def main(args=None):
rclpy.init(args=args)
minimal_publisher = TwistPublisher(
SMOOTH_WEIGHTS,
SCALE_LINEAR_VELOCITY,
SCALE_ANGULAR_VELOCITY,
PUBLISH_FREQUENCY_HZ,
)
rclpy.spin(minimal_publisher)
minimal_publisher.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()

5
src/dcaitirobot/embedded/.gitignore vendored
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@ -1,5 +0,0 @@
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

10
src/dcaitirobot/embedded/.vscode/extensions.json vendored
View File

@ -1,10 +0,0 @@
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}

2658
src/dcaitirobot/embedded/Doxyfile
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1
src/dcaitirobot/embedded/README.md
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# DCAITI

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@ -1,94 +0,0 @@
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<tr class="separator:a1df990f1a1fc97b95e8d53f719968026"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a86de85f5177dabb5ff712bf180db43aa"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a86de85f5177dabb5ff712bf180db43aa">TRIGGER</a>&#160;&#160;&#160;CHANGE</td></tr>
<tr class="separator:a86de85f5177dabb5ff712bf180db43aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8f1771d4051eafad228df4d397d7e47"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#ad8f1771d4051eafad228df4d397d7e47">CPR</a>&#160;&#160;&#160;24</td></tr>
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<tr class="memitem:a37aea0c86f1a366a15e54142dbcd0f45"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a37aea0c86f1a366a15e54142dbcd0f45">DIR_INVERSE</a>&#160;&#160;&#160;!</td></tr>
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<tr class="memitem:a545c3d33941dafc6ffd8cd9a61f6fca4"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>&#160;&#160;&#160;64</td></tr>
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<tr class="memitem:a81d84c8ab20039cad6024ab239ee4086"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a81d84c8ab20039cad6024ab239ee4086">MAX_SPEEDRPM</a>&#160;&#160;&#160;8000</td></tr>
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<tr class="memitem:ac47b302f1b8d2a7a9c035c417247be76"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#ac47b302f1b8d2a7a9c035c417247be76">SEC_PER_MIN</a>&#160;&#160;&#160;60</td></tr>
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<tr class="memitem:a81bcea712b48d6bf8f7193e3de40404b"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a81bcea712b48d6bf8f7193e3de40404b">MICROS_PER_SEC</a>&#160;&#160;&#160;1000000</td></tr>
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<tr class="memitem:a2ab9b66762dd6eb975292a7e83116bec"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a2ab9b66762dd6eb975292a7e83116bec">SPEEDPPS2SPEEDRPM</a>(freq)&#160;&#160;&#160;((unsigned long)(freq)*(<a class="el" href="MotorWheel_8h.html#ac47b302f1b8d2a7a9c035c417247be76">SEC_PER_MIN</a>)/(<a class="el" href="MotorWheel_8h.html#ad8f1771d4051eafad228df4d397d7e47">CPR</a>))</td></tr>
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<tr class="memitem:a73764abcca0b8bbf6bf355d9f1bab0b9"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9">KC</a>&#160;&#160;&#160;0.31</td></tr>
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<tr class="memitem:a73c066690ee81cb3f9c801205a237acd"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">TAUI</a>&#160;&#160;&#160;0.02</td></tr>
<tr class="separator:a73c066690ee81cb3f9c801205a237acd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75450bf317fb4edd6c44dbe6b2ff7673"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">TAUD</a>&#160;&#160;&#160;0.00</td></tr>
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<tr class="memitem:a755b9528bf80376f0476829e8078a0da"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a755b9528bf80376f0476829e8078a0da">SAMPLETIME</a>&#160;&#160;&#160;5</td></tr>
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<tr class="memitem:ab201ec4c4f600966de3779313f08d2c3"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#ab201ec4c4f600966de3779313f08d2c3">Baudrate</a>&#160;&#160;&#160;19200</td></tr>
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<tr class="memitem:aa8f0efe0d1ee33354f41f8898d0ee8dd"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd">debug</a>()&#160;&#160;&#160;{}</td></tr>
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<tr class="memitem:a9812ffc02e34cfd1b5809ba2811a98ae"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a9812ffc02e34cfd1b5809ba2811a98ae">irqISR</a>(y, x)</td></tr>
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<tr class="memitem:a598a3330b3c21701223ee0ca14316eca"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a598a3330b3c21701223ee0ca14316eca">PI</a>&#160;&#160;&#160;3.1416</td></tr>
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<tr class="memitem:a557b8031c21a790194ec252c281dc404"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a>&#160;&#160;&#160;314</td></tr>
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<h2 class="groupheader">Macro Definition Documentation</h2>
<a id="ab201ec4c4f600966de3779313f08d2c3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab201ec4c4f600966de3779313f08d2c3">&#9670;&nbsp;</a></span>Baudrate</h2>
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<td class="memname">#define Baudrate&#160;&#160;&#160;19200</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a557b8031c21a790194ec252c281dc404">&#9670;&nbsp;</a></span>CIRMM</h2>
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<td class="memname">#define CIRMM&#160;&#160;&#160;314</td>
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<h2 class="memtitle"><span class="permalink"><a href="#ad8f1771d4051eafad228df4d397d7e47">&#9670;&nbsp;</a></span>CPR</h2>
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<td class="memname">#define CPR&#160;&#160;&#160;24</td>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8f0efe0d1ee33354f41f8898d0ee8dd">&#9670;&nbsp;</a></span>debug</h2>
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<td class="memname">#define debug</td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td>&#160;&#160;&#160;{}</td>
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<a id="a4ba93a34cdd9c7b4d1f72021b449906e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4ba93a34cdd9c7b4d1f72021b449906e">&#9670;&nbsp;</a></span>DIR_ADVANCE</h2>
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<td class="memname">#define DIR_ADVANCE&#160;&#160;&#160;HIGH</td>
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<h2 class="memtitle"><span class="permalink"><a href="#ad52f8b2bf56da6fe72ca2bf9da935ee7">&#9670;&nbsp;</a></span>DIR_BACKOFF</h2>
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<td class="memname">#define DIR_BACKOFF&#160;&#160;&#160;LOW</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a37aea0c86f1a366a15e54142dbcd0f45">&#9670;&nbsp;</a></span>DIR_INVERSE</h2>
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<td class="memname">#define DIR_INVERSE&#160;&#160;&#160;!</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a9812ffc02e34cfd1b5809ba2811a98ae">&#9670;&nbsp;</a></span>irqISR</h2>
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<td class="memname">#define irqISR</td>
<td>(</td>
<td class="paramtype">&#160;</td>
<td class="paramname">y, </td>
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<td class="paramtype">&#160;</td>
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<b>Value:</b><div class="fragment"><div class="line"> <span class="keywordtype">void</span> x(); \</div>
<div class="line"> struct <a class="code" href="structISRVars.html">ISRVars</a> y={x}; \</div>
<div class="line"> void x() { \</div>
<div class="line"> static <span class="keywordtype">bool</span> first_pulse=<span class="keyword">true</span>; \</div>
<div class="line"> y.<a class="code" href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846">pulseEndMicros</a>=micros(); \</div>
<div class="line"> if(first_pulse==<span class="keyword">false</span> &amp;&amp; y.pulseEndMicros&gt;y.pulseStartMicros) { \</div>
<div class="line"> y.speedPPS=<a class="code" href="MotorWheel_8h.html#a81bcea712b48d6bf8f7193e3de40404b">MICROS_PER_SEC</a>/(y.pulseEndMicros-y.pulseStartMicros); \</div>
<div class="line"> <span class="comment">/* y.accPPSS=(y.speedPPS-y.lastSpeedPPS)*y.speedPPS; */</span> \</div>
<div class="line"> } <span class="keywordflow">else</span> first_pulse=<span class="keyword">false</span>; \</div>
<div class="line"> y.pulseStartMicros=y.pulseEndMicros; \</div>
<div class="line"> <span class="comment">/* y.lastSpeedPPS=y.speedPPS; */</span> \</div>
<div class="line"> if(y.pinIRQB!=<a class="code" href="MotorWheel_8h.html#adf4d6e9fc5cbf047c65ce74b4fa14117">PIN_UNDEFINED</a>) \</div>
<div class="line"> y.currDirection=<a class="code" href="MotorWheel_8h.html#a37aea0c86f1a366a15e54142dbcd0f45">DIR_INVERSE</a>(digitalRead(y.pinIRQ)^digitalRead(y.pinIRQB)); \</div>
<div class="line"> y.currDirection==<a class="code" href="MotorWheel_8h.html#a4ba93a34cdd9c7b4d1f72021b449906e">DIR_ADVANCE</a>?++y.pulses:--y.pulses; \</div>
<div class="line"> }</div>
<div class="ttc" id="aMotorWheel_8h_html_a37aea0c86f1a366a15e54142dbcd0f45"><div class="ttname"><a href="MotorWheel_8h.html#a37aea0c86f1a366a15e54142dbcd0f45">DIR_INVERSE</a></div><div class="ttdeci">#define DIR_INVERSE</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:76</div></div>
<div class="ttc" id="aMotorWheel_8h_html_a4ba93a34cdd9c7b4d1f72021b449906e"><div class="ttname"><a href="MotorWheel_8h.html#a4ba93a34cdd9c7b4d1f72021b449906e">DIR_ADVANCE</a></div><div class="ttdeci">#define DIR_ADVANCE</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:53</div></div>
<div class="ttc" id="aMotorWheel_8h_html_a81bcea712b48d6bf8f7193e3de40404b"><div class="ttname"><a href="MotorWheel_8h.html#a81bcea712b48d6bf8f7193e3de40404b">MICROS_PER_SEC</a></div><div class="ttdeci">#define MICROS_PER_SEC</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:86</div></div>
<div class="ttc" id="aMotorWheel_8h_html_adf4d6e9fc5cbf047c65ce74b4fa14117"><div class="ttname"><a href="MotorWheel_8h.html#adf4d6e9fc5cbf047c65ce74b4fa14117">PIN_UNDEFINED</a></div><div class="ttdeci">#define PIN_UNDEFINED</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:56</div></div>
<div class="ttc" id="astructISRVars_html"><div class="ttname"><a href="structISRVars.html">ISRVars</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:131</div></div>
<div class="ttc" id="astructISRVars_html_a935b7a7cfe9c5a33902ce56256980846"><div class="ttname"><a href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846">ISRVars::pulseEndMicros</a></div><div class="ttdeci">volatile unsigned long pulseEndMicros</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:136</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a73764abcca0b8bbf6bf355d9f1bab0b9">&#9670;&nbsp;</a></span>KC</h2>
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<td class="memname">#define KC&#160;&#160;&#160;0.31</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a1df990f1a1fc97b95e8d53f719968026">&#9670;&nbsp;</a></span>MAX_PWM</h2>
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<td class="memname">#define MAX_PWM&#160;&#160;&#160;255</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a81d84c8ab20039cad6024ab239ee4086">&#9670;&nbsp;</a></span>MAX_SPEEDRPM</h2>
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<td class="memname">#define MAX_SPEEDRPM&#160;&#160;&#160;8000</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a81bcea712b48d6bf8f7193e3de40404b">&#9670;&nbsp;</a></span>MICROS_PER_SEC</h2>
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<td class="memname">#define MICROS_PER_SEC&#160;&#160;&#160;1000000</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a598a3330b3c21701223ee0ca14316eca">&#9670;&nbsp;</a></span>PI</h2>
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<td class="memname">#define PI&#160;&#160;&#160;3.1416</td>
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<h2 class="memtitle"><span class="permalink"><a href="#adf4d6e9fc5cbf047c65ce74b4fa14117">&#9670;&nbsp;</a></span>PIN_UNDEFINED</h2>
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<td class="memname">#define PIN_UNDEFINED&#160;&#160;&#160;255</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a545c3d33941dafc6ffd8cd9a61f6fca4">&#9670;&nbsp;</a></span>REDUCTION_RATIO</h2>
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<td class="memname">#define REDUCTION_RATIO&#160;&#160;&#160;64</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a2d979268f4539332ee9b1abc5b58e974">&#9670;&nbsp;</a></span>REF_VOLT</h2>
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<td class="memname">#define REF_VOLT&#160;&#160;&#160;12</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a755b9528bf80376f0476829e8078a0da">&#9670;&nbsp;</a></span>SAMPLETIME</h2>
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<td class="memname">#define SAMPLETIME&#160;&#160;&#160;5</td>
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<h2 class="memtitle"><span class="permalink"><a href="#ac47b302f1b8d2a7a9c035c417247be76">&#9670;&nbsp;</a></span>SEC_PER_MIN</h2>
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<td class="memname">#define SEC_PER_MIN&#160;&#160;&#160;60</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a2ab9b66762dd6eb975292a7e83116bec">&#9670;&nbsp;</a></span>SPEEDPPS2SPEEDRPM</h2>
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<td class="memname">#define SPEEDPPS2SPEEDRPM</td>
<td>(</td>
<td class="paramtype">&#160;</td>
<td class="paramname">freq</td><td>)</td>
<td>&#160;&#160;&#160;((unsigned long)(freq)*(<a class="el" href="MotorWheel_8h.html#ac47b302f1b8d2a7a9c035c417247be76">SEC_PER_MIN</a>)/(<a class="el" href="MotorWheel_8h.html#ad8f1771d4051eafad228df4d397d7e47">CPR</a>))</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a75450bf317fb4edd6c44dbe6b2ff7673">&#9670;&nbsp;</a></span>TAUD</h2>
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<td class="memname">#define TAUD&#160;&#160;&#160;0.00</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a73c066690ee81cb3f9c801205a237acd">&#9670;&nbsp;</a></span>TAUI</h2>
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<td class="memname">#define TAUI&#160;&#160;&#160;0.02</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a86de85f5177dabb5ff712bf180db43aa">&#9670;&nbsp;</a></span>TRIGGER</h2>
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<td class="memname">#define TRIGGER&#160;&#160;&#160;CHANGE</td>
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<li class="navelem"><a class="el" href="dir_97aefd0d527b934f1d99a682da8fe6a9.html">lib</a></li><li class="navelem"><a class="el" href="dir_10c6c21535d653b7c685bbf5a23d61f7.html">MotorWheel</a></li> </ul>
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<a href="MotorWheel_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160; </div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">V1.1 201104</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">1. motorwheel library version 1.1,compatible with maple.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">V1.1.1 201110</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment">1. Add Acceleration</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">V1.2 201207</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">1. Double CPR from 12 to 24, Interrupt Type from RISING to CHANGE.</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment">2. Reduce default sample time from 10ms to 5ms.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">3. Compatible with Namiki 22CL-3501PG80:1, by &quot;#define _NAMIKI_MOTOR&quot; before &quot;#include ...&quot;.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment">V1.3 201209</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment">1. R2WD::delayMS(), Omni3WD::delayMS(), Omni4WD::delayMS() are re-implemented, more exactly.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment">2. getSpeedRPM(), setSpeedRPM(), getSpeedMMPS(), setSpeedMMPS() are plug-minus/direction sensitive now.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment">3. Acceleration is disabled.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment">V1.4 201209 Not Released</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment">1. Increase CPR from 24 to 48 for Faulhaber 2342.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment">V1.5 201209 Omni4WD is re-implemented, and now return value of Omni4WD::getSpeedMMPS() is correct.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="comment">/*for maple*/</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="preprocessor">#if defined(BOARD_maple) || defined(BOARD_maple_native) || defined(BOARD_maple_mini)</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="preprocessor"> #include &quot;wirish.h&quot;</span> </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="preprocessor"> #include &quot;./../PID_Beta6/PID_Beta6.h&quot;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="preprocessor"> #include &quot;ext_interrupts.h&quot;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="comment">/*for arduino*/</span> </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <span class="comment">//#include&lt;Arduino.h&gt;</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; <span class="comment">//#include&lt;WProgram.h&gt;</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="preprocessor"> #include&lt;<a class="code" href="PID__Beta6_8h.html">PID_Beta6.h</a>&gt;</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="preprocessor"> #include&lt;<a class="code" href="PinChangeInt_8h.html">PinChangeInt.h</a>&gt;</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="comment"> class PID</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="comment"> class Motor</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="comment"> class GearedMotor</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;<span class="comment"> class MotorWheel</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;<span class="preprocessor">#ifndef MotorWheel_H</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;<span class="preprocessor">#define MotorWheel_H</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a4ba93a34cdd9c7b4d1f72021b449906e"> 53</a></span>&#160;<span class="preprocessor">#define DIR_ADVANCE HIGH</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#ad52f8b2bf56da6fe72ca2bf9da935ee7"> 54</a></span>&#160;<span class="preprocessor">#define DIR_BACKOFF LOW</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#adf4d6e9fc5cbf047c65ce74b4fa14117"> 56</a></span>&#160;<span class="preprocessor">#define PIN_UNDEFINED 255</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a2d979268f4539332ee9b1abc5b58e974"> 57</a></span>&#160;<span class="preprocessor">#define REF_VOLT 12</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;<span class="comment">/*for maple*/</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;<span class="preprocessor">#if defined(BOARD_maple) || defined(BOARD_maple_native) || defined(BOARD_maple_mini)</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;<span class="preprocessor"> #define MAX_PWM 3599</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160;<span class="comment">/*for arduino*/</span> </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a1df990f1a1fc97b95e8d53f719968026"> 64</a></span>&#160;<span class="preprocessor"> #define MAX_PWM 255</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;<span class="preprocessor">#ifdef _NAMIKI_MOTOR</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;<span class="preprocessor"> #define TRIGGER CHANGE</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;<span class="preprocessor"> #define CPR 4 </span><span class="comment">// Namiki motor</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;<span class="preprocessor"> #define DIR_INVERSE</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;<span class="preprocessor"> #define REDUCTION_RATIO 80</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a86de85f5177dabb5ff712bf180db43aa"> 74</a></span>&#160;<span class="preprocessor"> #define TRIGGER CHANGE</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#ad8f1771d4051eafad228df4d397d7e47"> 75</a></span>&#160;<span class="preprocessor"> #define CPR 24 </span><span class="comment">// Faulhaber motor</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a37aea0c86f1a366a15e54142dbcd0f45"> 76</a></span>&#160;<span class="preprocessor"> #define DIR_INVERSE !</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4"> 77</a></span>&#160;<span class="preprocessor"> #define REDUCTION_RATIO 64</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a81d84c8ab20039cad6024ab239ee4086"> 80</a></span>&#160;<span class="preprocessor">#define MAX_SPEEDRPM 8000</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;<span class="comment">//#define DESIRED_SPEEDRPM 3000</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;<span class="comment">//#define SPEED_CONSTANT_RPM 713</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;<span class="comment">//#define PWM2SPEED_RESOLUTION 143 //713 * 0.2</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#ac47b302f1b8d2a7a9c035c417247be76"> 85</a></span>&#160;<span class="preprocessor">#define SEC_PER_MIN 60</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a81bcea712b48d6bf8f7193e3de40404b"> 86</a></span>&#160;<span class="preprocessor">#define MICROS_PER_SEC 1000000</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;<span class="comment">//#define SPEEDPPS2SPEEDRPM(freq) ((freq)*((SEC_PER_MIN)/(CPR))) //(freq*SEC_PER_MIN/CPR)</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a2ab9b66762dd6eb975292a7e83116bec"> 88</a></span>&#160;<span class="preprocessor">#define SPEEDPPS2SPEEDRPM(freq) ((unsigned long)(freq)*(SEC_PER_MIN)/(CPR)) </span><span class="comment">//(freq*SEC_PER_MIN/CPR)</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160;<span class="comment">//#define SPEEDPPS2SPEED2VOLT(spd) ((spd)/SPEED_CONSTANT_RPM)</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;<span class="comment">//#define MAX_SPEEDPPS ((MAX_SPEEDRPM*CPR)/SEC_PER_MIN)</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160;<span class="comment">//#define MIN_SPEEDPPS 0</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9"> 93</a></span>&#160;<span class="preprocessor">#define KC 0.31</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd"> 94</a></span>&#160;<span class="preprocessor">#define TAUI 0.02</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673"> 95</a></span>&#160;<span class="preprocessor">#define TAUD 0.00</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a755b9528bf80376f0476829e8078a0da"> 96</a></span>&#160;<span class="preprocessor">#define SAMPLETIME 5</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#ab201ec4c4f600966de3779313f08d2c3"> 98</a></span>&#160;<span class="preprocessor">#define Baudrate 19200</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160;<span class="comment">#ifndef DEBUG</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;<span class="comment">#define DEBUG</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;<span class="comment">#endif</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160;<span class="preprocessor">#ifdef DEBUG</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160;<span class="preprocessor">#define debug() { \</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160;<span class="preprocessor"> if(!Serial.available()) Serial.begin(Baudrate); \</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160;<span class="preprocessor"> Serial.println(__func__);}</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd"> 109</a></span>&#160;<span class="preprocessor">#define debug() {}</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160;<span class="comment">// Interrupt Type: RISING --&gt; CHANGE 201207</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a9812ffc02e34cfd1b5809ba2811a98ae"> 114</a></span>&#160;<span class="preprocessor">#define irqISR(y,x) \</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160;<span class="preprocessor"> void x(); \</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>&#160;<span class="preprocessor"> struct ISRVars y={x}; \</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160;<span class="preprocessor"> void x() { \</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>&#160;<span class="preprocessor"> static bool first_pulse=true; \</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160;<span class="preprocessor"> y.pulseEndMicros=micros(); \</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160;<span class="preprocessor"> if(first_pulse==false &amp;&amp; y.pulseEndMicros&gt;y.pulseStartMicros) { \</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;<span class="preprocessor"> y.speedPPS=MICROS_PER_SEC/(y.pulseEndMicros-y.pulseStartMicros); \</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160;<span class="preprocessor"> </span><span class="comment">/* y.accPPSS=(y.speedPPS-y.lastSpeedPPS)*y.speedPPS; */</span><span class="preprocessor"> \</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160;<span class="preprocessor"> } else first_pulse=false; \</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160;<span class="preprocessor"> y.pulseStartMicros=y.pulseEndMicros; \</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160;<span class="preprocessor"> </span><span class="comment">/* y.lastSpeedPPS=y.speedPPS; */</span><span class="preprocessor"> \</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160;<span class="preprocessor"> if(y.pinIRQB!=PIN_UNDEFINED) \</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160;<span class="preprocessor"> y.currDirection=DIR_INVERSE(digitalRead(y.pinIRQ)^digitalRead(y.pinIRQB)); \</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160;<span class="preprocessor"> y.currDirection==DIR_ADVANCE?++y.pulses:--y.pulses; \</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160;<span class="preprocessor"> } </span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="structISRVars.html"> 131</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structISRVars.html">ISRVars</a> {</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structISRVars.html#a38f71602d525494877c66159cf704309"> 132</a></span>&#160; void (*<a class="code" href="structISRVars.html#a38f71602d525494877c66159cf704309">ISRfunc</a>)();</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160; <span class="comment">//volatile unsigned long pulses;</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="structISRVars.html#a5fb13f185745e43667ba30d2c0481f74"> 134</a></span>&#160; <span class="keyword">volatile</span> <span class="keywordtype">long</span> <a class="code" href="structISRVars.html#a5fb13f185745e43667ba30d2c0481f74">pulses</a>; <span class="comment">// 201104, direction sensitive</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="structISRVars.html#aad94840301dc39f51a918b556df8fc11"> 135</a></span>&#160; <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="structISRVars.html#aad94840301dc39f51a918b556df8fc11">pulseStartMicros</a>;</div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846"> 136</a></span>&#160; <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846">pulseEndMicros</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="structISRVars.html#af6857712234eae5709feba7c699e0ac7"> 137</a></span>&#160; <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structISRVars.html#af6857712234eae5709feba7c699e0ac7">speedPPS</a>;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160; <span class="comment">//volatile unsigned int lastSpeedPPS;</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160; <span class="comment">//volatile int accPPSS; // acceleration, Pulse Per Sec^2</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="structISRVars.html#a9db372787f75f20b71f24706af08878e"> 140</a></span>&#160; <span class="keyword">volatile</span> <span class="keywordtype">bool</span> <a class="code" href="structISRVars.html#a9db372787f75f20b71f24706af08878e">currDirection</a>;</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="structISRVars.html#a24a642bb0d154409a0c7799c6e79552a"> 141</a></span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structISRVars.html#a24a642bb0d154409a0c7799c6e79552a">pinIRQB</a>;</div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structISRVars.html#ac1eba4ab5f07f4751a050d9cbcedc797"> 142</a></span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structISRVars.html#ac1eba4ab5f07f4751a050d9cbcedc797">pinIRQ</a>; <span class="comment">// pinIRQA 201207</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160;};</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classMotor.html"> 145</a></span>&#160;<span class="keyword">class </span><a class="code" href="classMotor.html">Motor</a>: <span class="keyword">public</span> <a class="code" href="classPID.html">PID</a> {</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160; <a class="code" href="classMotor.html">Motor</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinPWM,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinDir,</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQ,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQB,</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160; <span class="keyword">struct</span> <a class="code" href="structISRVars.html">ISRVars</a>* _isr);</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">setupInterrupt</a>();</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">getPinPWM</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classMotor.html#af085804880a48840dc3d1d088911695e">getPinDir</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classMotor.html#a785eadb656e31e62b1f1515004344ae0">getPinIRQ</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classMotor.html#a3a1771db56274e5c06625d33a098932f">getPinIRQB</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#ad4e09298c4c8b99ab467a4262d8a3207">runPWM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> PWM,<span class="keywordtype">bool</span> dir,<span class="keywordtype">bool</span> saveDir=<span class="keyword">true</span>);</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#aa41934a55ada6dabb95b6741b6d964d3">getPWM</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a17f9e1e193961edc117026f80e806d49">advancePWM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> PWM);</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#aefe7b72985f51315c7ffe81fbf66869c">backoffPWM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> PWM);</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a2aaead147c8cb1a712db027f9cb70e33">setDesiredDir</a>(<span class="keywordtype">bool</span> dir);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#aa813d431c39937e90e91f3ad2fbf625d">getDesiredDir</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#aeddf9353baeaa0ad9e6de0df5d3e73e8">reverseDesiredDir</a>();</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a9462d1a9af69941100f422ce1a0faeff">setCurrDir</a>();</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#aaedede5ddae28b6926204dc7a47e0612">getCurrDir</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160; <span class="comment">//int getAccRPMM() const; // Acceleration, Round Per Min^2</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160; <span class="comment">//unsigned int getSpeedRPM() const;</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160; <span class="comment">//unsigned int setSpeedRPM(int speedRPM,bool dir);</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160; <span class="comment">// direction sensitive 201208</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotor.html#ada15a2f02a7945a458b48e829b6a5d6b">getSpeedRPM</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a8d707212e2395830a9064712df1c4f68">setSpeedRPM</a>(<span class="keywordtype">int</span> speedRPM,<span class="keywordtype">bool</span> dir); <span class="comment">// preserve</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a8d707212e2395830a9064712df1c4f68">setSpeedRPM</a>(<span class="keywordtype">int</span> speedRPM);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160; <span class="comment">//void simpleRegulate();</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a0555b6c2a33c373d3a9e33f174a2b5aa">PIDSetup</a>(<span class="keywordtype">float</span> kc=<a class="code" href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9">KC</a>,<span class="keywordtype">float</span> taui=<a class="code" href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">TAUI</a>,<span class="keywordtype">float</span> taud=<a class="code" href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">TAUD</a>,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sampleTime=1000);</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a1bc02b7e0da3aca6e724d2755d42eaab">PIDGetStatus</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#ad6ee53cd8570f60ae5dd83b8604b00fe">PIDEnable</a>(<span class="keywordtype">float</span> kc=<a class="code" href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9">KC</a>,<span class="keywordtype">float</span> taui=<a class="code" href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">TAUI</a>,<span class="keywordtype">float</span> taud=<a class="code" href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">TAUD</a>,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sampleTime=1000);</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a6358811a51b7636b06199972b7fae417">PIDDisable</a>();</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#ae14f43483f26152d92c88aa4c6a7a471">PIDReset</a>();</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#aa44fc307611e45eeb5e6fb50c79f375b">PIDRegulate</a>(<span class="keywordtype">bool</span> doRegulate=<span class="keyword">true</span>);</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a3377631cff641d41a50b7f1c5b30fc1f">PIDSetSpeedRPMDesired</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> speedRPM);</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a9ca625db156da95bc5f4500c294f8e83">PIDGetSpeedRPMDesired</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classMotor.html#a0a420be82fa25f5b62b96f6805835d71">delayMS</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ms,<span class="keywordtype">bool</span> <a class="code" href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd">debug</a>=<span class="keyword">false</span>);</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classMotor.html#a55a0ba922517197fd01caac36c84c682">debugger</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160; <span class="comment">//int getAccPPSS() const;</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a5e5d272254ecd37a082fc467e9cd2610">getSpeedPPS</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>&#160; <span class="keywordtype">long</span> <a class="code" href="classMotor.html#a54f6cdff2ab028fdd2724fbf40c3f641">getCurrPulse</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>&#160; <span class="keywordtype">long</span> <a class="code" href="classMotor.html#a653642c0cba985a85204fbfe81cf3c8a">setCurrPulse</a>(<span class="keywordtype">long</span> _pulse);</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>&#160; <span class="keywordtype">long</span> <a class="code" href="classMotor.html#a190bda1f77605d10bcbacceb2e465bf0">resetCurrPulse</a>();</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classMotor.html#acab1e83ffdd286821aa69af770294fae"> 198</a></span>&#160; <span class="keyword">struct </span><a class="code" href="structISRVars.html">ISRVars</a>* <a class="code" href="classMotor.html#acab1e83ffdd286821aa69af770294fae">isr</a>;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> pinPWM;</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> pinDir;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>&#160; <span class="comment">//unsigned char pinIRQ; // moved to isr</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160; <span class="comment">//unsigned char pinIRQB;</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>&#160; <span class="comment">//bool currDirection; // current direction</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>&#160; <span class="keywordtype">bool</span> desiredDirection; <span class="comment">// desired direction</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> speedPWM; <span class="comment">// current PWM</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>&#160; <span class="keywordtype">int</span> speedRPMInput; <span class="comment">// RPM: Round Per Minute</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>&#160; <span class="keywordtype">int</span> speedRPMOutput; <span class="comment">// RPM</span></div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>&#160; <span class="keywordtype">int</span> speedRPMDesired; <span class="comment">// RPM</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>&#160; <span class="comment">//float PWMEC;</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>&#160; <span class="keywordtype">float</span> speed2DutyCycle;</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>&#160;<span class="comment"> // the followings are defined in struct ISRvars, </span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>&#160;<span class="comment"> // because ISR must be a global function, without parameters and no return value</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>&#160;<span class="comment"> volatile unsigned int speedPPS; // PPS: Pulses Per Second</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>&#160;<span class="comment"> volatile unsigned long pulseStartMicros;</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>&#160;<span class="comment"> volatile unsigned long pulseEndMicros;</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>&#160; <span class="keywordtype">bool</span> pidCtrl;</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>&#160; <a class="code" href="classMotor.html">Motor</a>();</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160;};</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>&#160;<span class="preprocessor">#ifndef REDUCTION_RATIO</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>&#160;<span class="preprocessor">#define REDUCTION_RATIO 64</span></div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classGearedMotor.html"> 233</a></span>&#160;<span class="keyword">class </span><a class="code" href="classGearedMotor.html">GearedMotor</a>: <span class="keyword">public</span> <a class="code" href="classMotor.html">Motor</a> { <span class="comment">// RPM</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>&#160; <a class="code" href="classGearedMotor.html#aa91e4c0799d41b33495cac9c805333e2">GearedMotor</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinPWM,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinDir,</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQ,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQB,</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>&#160; <span class="keyword">struct</span> <a class="code" href="structISRVars.html">ISRVars</a>* _isr,</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _ratio=<a class="code" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>);</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>&#160; <span class="comment">//float getGearedAccRPMM() const; // Acceleration, Round Per Min^2</span></div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classGearedMotor.html#a13b6c99ef8713b5333f98a9ba844ba8b">getGearedSpeedRPM</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">setGearedSpeedRPM</a>(<span class="keywordtype">float</span> gearedSpeedRPM,<span class="keywordtype">bool</span> dir);</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>&#160; <span class="comment">// direction sensitive 201208</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">setGearedSpeedRPM</a>(<span class="keywordtype">float</span> gearedSpeedRPM);</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classGearedMotor.html#aff9f697effb8c62667a32942ae154053">getRatio</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classGearedMotor.html#a347d79fb74710a1a82410d0b14a84f25">setRatio</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ratio=<a class="code" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>);</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classGearedMotor.html#a36d9fc91b484c923d3f6c92d05c17b56">getPosition</a>();</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _ratio;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>&#160;};</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>&#160;<span class="preprocessor">#ifndef PI</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a598a3330b3c21701223ee0ca14316eca"> 253</a></span>&#160;<span class="preprocessor">#define PI 3.1416</span></div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>&#160;<span class="comment">//#define CIR 31.4 // cm</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>&#160;<span class="comment">//#define CIRMM 150 // mm</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>&#160;<span class="comment">//#define CIRMM 188</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404"> 258</a></span>&#160;<span class="preprocessor">#define CIRMM 314</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classMotorWheel.html"> 259</a></span>&#160;<span class="keyword">class </span><a class="code" href="classMotorWheel.html">MotorWheel</a>: <span class="keyword">public</span> <a class="code" href="classGearedMotor.html">GearedMotor</a> { <span class="comment">// </span></div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>&#160; <a class="code" href="classMotorWheel.html#a51b83bdbd1880690814b3febb790484b">MotorWheel</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinPWM,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinDir,</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQ,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQB,</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>&#160; <span class="keyword">struct</span> <a class="code" href="structISRVars.html">ISRVars</a>* _isr,</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ratio=<a class="code" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cirMM=<a class="code" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a>);</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#ae3ceed8768efd5e263e1b897b14b6a6b">getCirMM</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a6f2191d032f70f43cf60818d1e9c6b66">setCirMM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cirMM=<a class="code" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a>);</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>&#160;<span class="comment"> int getAccCMPMM() const; // Acceleration, CM Per Min^2</span></div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>&#160;<span class="comment"> unsigned int getSpeedCMPM() const; // cm/min</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>&#160;<span class="comment"> unsigned int setSpeedCMPM(unsigned int cm,bool dir);</span></div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>&#160;<span class="comment"> int getAccMMPSS() const; // Acceleration, MM Per Sec^2</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>&#160;<span class="comment"> unsigned int getSpeedMMPS() const; // mm/s</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>&#160;<span class="comment"> unsigned int setSpeedMMPS(unsigned int mm,bool dir);</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>&#160; <span class="comment">// direction sensitive 201208</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>&#160; <span class="comment">//int getAccCMPMM() const; // Acceleration, CM Per Min^2</span></div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a8c38bc7d114f802169562d32d1f1bbaa">getSpeedCMPM</a>() <span class="keyword">const</span>; <span class="comment">// cm/min</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a9f2e423db798c68453624aba49c368e1">setSpeedCMPM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cm,<span class="keywordtype">bool</span> dir); <span class="comment">// preserve</span></div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a9f2e423db798c68453624aba49c368e1">setSpeedCMPM</a>(<span class="keywordtype">int</span> cm);</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>&#160; <span class="comment">//int getAccMMPSS() const; // Acceleration, MM Per Sec^2</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a6cec55acabda4ae12a8d66d4b50a7e39">getSpeedMMPS</a>() <span class="keyword">const</span>; <span class="comment">// mm/s</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a41d7f56c8abd6e75ae9df4f015e7873d">setSpeedMMPS</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> mm,<span class="keywordtype">bool</span> dir); <span class="comment">// preserve</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a41d7f56c8abd6e75ae9df4f015e7873d">setSpeedMMPS</a>(<span class="keywordtype">int</span> mm);</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classMotorWheel.html#a1ce67716650175c1be697fc7932b9937">setGearedRPM</a>(<span class="keywordtype">float</span> rpm, <span class="keywordtype">bool</span> dir);</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>&#160; <span class="comment">//unsigned int runTime(unsigned int speedMMPS,bool dir,unsigned int TimeMS);</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>&#160; <span class="comment">//unsigned int runDistance(unsigned int speedMMPS,bool dir,unsigned int distanceMM);</span></div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _cirMM;</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>&#160;};</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>&#160;<span class="comment">class samePID: public PID {</span></div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>&#160;<span class="comment">public:</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>&#160;<span class="comment"> samePID(int* input,int* output,int* setPoint,float kc,float taui,float taud)</span></div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>&#160;<span class="comment"> :PID(input,output,setPoint,kc,taui,taud) { }</span></div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>&#160;<span class="comment">};</span></div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>&#160;<span class="comment">class servoMotor: public Motor,public samePID {</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>&#160;<span class="comment">public:</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>&#160;<span class="comment"> servoMotor(unsigned char _pinPWM,unsigned char _pinDir,</span></div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>&#160;<span class="comment"> unsigned char _pinIRQ,unsigned char _pinIRQB,</span></div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>&#160;<span class="comment"> struct ISRVars* _isr);</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>&#160;<span class="comment"> int SPIDSetPulseBoundary(int min,int max);</span></div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>&#160;<span class="comment"> bool SPIDSetup(float kc=KC,float taui=TAUI,float taud=TAUD,unsigned int sampleTime=10);</span></div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>&#160;<span class="comment"> bool PIDRegulate(bool doRegulate=true);</span></div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>&#160;<span class="comment"> enum {</span></div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>&#160;<span class="comment"> SPIDMODE_UNKNOWN,</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>&#160;<span class="comment"> SPIDMODE_SPEED,</span></div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>&#160;<span class="comment"> SPIDMODE_STOP,</span></div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>&#160;<span class="comment"> SPIDMODE_PULSE,</span></div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>&#160;<span class="comment"> };</span></div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>&#160;<span class="comment"> unsigned char getSPIDMode() const;</span></div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>&#160;<span class="comment"> unsigned char setSPIDMode(unsigned char _mode);</span></div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>&#160;<span class="comment"> int getPulseDesired() const;</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>&#160;<span class="comment"> int setPulseDesired(int _pulse);</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>&#160;<span class="comment"> int incPulseDesired();</span></div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>&#160;<span class="comment"> int decPulseDesired();</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>&#160;<span class="comment"> bool backToZero();</span></div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>&#160;<span class="comment"> bool scanZero();</span></div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>&#160;<span class="comment"> void debugger() const;</span></div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>&#160;<span class="comment">private:</span></div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>&#160;<span class="comment"> int pulseInput; //</span></div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>&#160;<span class="comment"> int pulseOutput; //</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>&#160;<span class="comment"> int pulseDesired; //</span></div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>&#160;<span class="comment"> int pulse2SpeedRPM;</span></div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>&#160;<span class="comment"> unsigned char SPIDMode;</span></div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>&#160;<span class="comment"> bool SPIDRegulateSpeed(bool doRegulate=true); // 201104</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>&#160;<span class="comment"> bool SPIDRegulateStop(bool doRegulate=true);</span></div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>&#160;<span class="comment"> bool SPIDRegulatePulse(bool doRegulate=true);</span></div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>&#160;<span class="comment">};</span></div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>&#160; </div>
<div class="ttc" id="aMotorWheel_8h_html_a545c3d33941dafc6ffd8cd9a61f6fca4"><div class="ttname"><a href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a></div><div class="ttdeci">#define REDUCTION_RATIO</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:77</div></div>
<div class="ttc" id="aMotorWheel_8h_html_a557b8031c21a790194ec252c281dc404"><div class="ttname"><a href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a></div><div class="ttdeci">#define CIRMM</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:258</div></div>
<div class="ttc" id="aMotorWheel_8h_html_a73764abcca0b8bbf6bf355d9f1bab0b9"><div class="ttname"><a href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9">KC</a></div><div class="ttdeci">#define KC</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:93</div></div>
<div class="ttc" id="aMotorWheel_8h_html_a73c066690ee81cb3f9c801205a237acd"><div class="ttname"><a href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">TAUI</a></div><div class="ttdeci">#define TAUI</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:94</div></div>
<div class="ttc" id="aMotorWheel_8h_html_a75450bf317fb4edd6c44dbe6b2ff7673"><div class="ttname"><a href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">TAUD</a></div><div class="ttdeci">#define TAUD</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:95</div></div>
<div class="ttc" id="aMotorWheel_8h_html_aa8f0efe0d1ee33354f41f8898d0ee8dd"><div class="ttname"><a href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd">debug</a></div><div class="ttdeci">#define debug()</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:109</div></div>
<div class="ttc" id="aPID__Beta6_8h_html"><div class="ttname"><a href="PID__Beta6_8h.html">PID_Beta6.h</a></div></div>
<div class="ttc" id="aPinChangeInt_8h_html"><div class="ttname"><a href="PinChangeInt_8h.html">PinChangeInt.h</a></div></div>
<div class="ttc" id="aclassGearedMotor_html"><div class="ttname"><a href="classGearedMotor.html">GearedMotor</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:233</div></div>
<div class="ttc" id="aclassGearedMotor_html_a0aa18eb91d0313f4bf64cc5e3d43c4cf"><div class="ttname"><a href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">GearedMotor::setGearedSpeedRPM</a></div><div class="ttdeci">float setGearedSpeedRPM(float gearedSpeedRPM, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:309</div></div>
<div class="ttc" id="aclassGearedMotor_html_a13b6c99ef8713b5333f98a9ba844ba8b"><div class="ttname"><a href="classGearedMotor.html#a13b6c99ef8713b5333f98a9ba844ba8b">GearedMotor::getGearedSpeedRPM</a></div><div class="ttdeci">float getGearedSpeedRPM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:303</div></div>
<div class="ttc" id="aclassGearedMotor_html_a347d79fb74710a1a82410d0b14a84f25"><div class="ttname"><a href="classGearedMotor.html#a347d79fb74710a1a82410d0b14a84f25">GearedMotor::setRatio</a></div><div class="ttdeci">unsigned int setRatio(unsigned int ratio=REDUCTION_RATIO)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:293</div></div>
<div class="ttc" id="aclassGearedMotor_html_a36d9fc91b484c923d3f6c92d05c17b56"><div class="ttname"><a href="classGearedMotor.html#a36d9fc91b484c923d3f6c92d05c17b56">GearedMotor::getPosition</a></div><div class="ttdeci">float getPosition()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:323</div></div>
<div class="ttc" id="aclassGearedMotor_html_aa91e4c0799d41b33495cac9c805333e2"><div class="ttname"><a href="classGearedMotor.html#aa91e4c0799d41b33495cac9c805333e2">GearedMotor::GearedMotor</a></div><div class="ttdeci">GearedMotor(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr, unsigned int _ratio=REDUCTION_RATIO)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:284</div></div>
<div class="ttc" id="aclassGearedMotor_html_aff9f697effb8c62667a32942ae154053"><div class="ttname"><a href="classGearedMotor.html#aff9f697effb8c62667a32942ae154053">GearedMotor::getRatio</a></div><div class="ttdeci">unsigned int getRatio() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:290</div></div>
<div class="ttc" id="aclassMotorWheel_html"><div class="ttname"><a href="classMotorWheel.html">MotorWheel</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:259</div></div>
<div class="ttc" id="aclassMotorWheel_html_a1ce67716650175c1be697fc7932b9937"><div class="ttname"><a href="classMotorWheel.html#a1ce67716650175c1be697fc7932b9937">MotorWheel::setGearedRPM</a></div><div class="ttdeci">void setGearedRPM(float rpm, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:364</div></div>
<div class="ttc" id="aclassMotorWheel_html_a41d7f56c8abd6e75ae9df4f015e7873d"><div class="ttname"><a href="classMotorWheel.html#a41d7f56c8abd6e75ae9df4f015e7873d">MotorWheel::setSpeedMMPS</a></div><div class="ttdeci">int setSpeedMMPS(unsigned int mm, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:375</div></div>
<div class="ttc" id="aclassMotorWheel_html_a51b83bdbd1880690814b3febb790484b"><div class="ttname"><a href="classMotorWheel.html#a51b83bdbd1880690814b3febb790484b">MotorWheel::MotorWheel</a></div><div class="ttdeci">MotorWheel(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr, unsigned int ratio=REDUCTION_RATIO, unsigned int cirMM=CIRMM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:329</div></div>
<div class="ttc" id="aclassMotorWheel_html_a6cec55acabda4ae12a8d66d4b50a7e39"><div class="ttname"><a href="classMotorWheel.html#a6cec55acabda4ae12a8d66d4b50a7e39">MotorWheel::getSpeedMMPS</a></div><div class="ttdeci">int getSpeedMMPS() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:370</div></div>
<div class="ttc" id="aclassMotorWheel_html_a6f2191d032f70f43cf60818d1e9c6b66"><div class="ttname"><a href="classMotorWheel.html#a6f2191d032f70f43cf60818d1e9c6b66">MotorWheel::setCirMM</a></div><div class="ttdeci">unsigned int setCirMM(unsigned int cirMM=CIRMM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:340</div></div>
<div class="ttc" id="aclassMotorWheel_html_a8c38bc7d114f802169562d32d1f1bbaa"><div class="ttname"><a href="classMotorWheel.html#a8c38bc7d114f802169562d32d1f1bbaa">MotorWheel::getSpeedCMPM</a></div><div class="ttdeci">int getSpeedCMPM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:345</div></div>
<div class="ttc" id="aclassMotorWheel_html_a9f2e423db798c68453624aba49c368e1"><div class="ttname"><a href="classMotorWheel.html#a9f2e423db798c68453624aba49c368e1">MotorWheel::setSpeedCMPM</a></div><div class="ttdeci">int setSpeedCMPM(unsigned int cm, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:350</div></div>
<div class="ttc" id="aclassMotorWheel_html_ae3ceed8768efd5e263e1b897b14b6a6b"><div class="ttname"><a href="classMotorWheel.html#ae3ceed8768efd5e263e1b897b14b6a6b">MotorWheel::getCirMM</a></div><div class="ttdeci">unsigned int getCirMM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:337</div></div>
<div class="ttc" id="aclassMotor_html"><div class="ttname"><a href="classMotor.html">Motor</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:145</div></div>
<div class="ttc" id="aclassMotor_html_a0555b6c2a33c373d3a9e33f174a2b5aa"><div class="ttname"><a href="classMotor.html#a0555b6c2a33c373d3a9e33f174a2b5aa">Motor::PIDSetup</a></div><div class="ttdeci">bool PIDSetup(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:171</div></div>
<div class="ttc" id="aclassMotor_html_a0a420be82fa25f5b62b96f6805835d71"><div class="ttname"><a href="classMotor.html#a0a420be82fa25f5b62b96f6805835d71">Motor::delayMS</a></div><div class="ttdeci">void delayMS(unsigned int ms, bool debug=false)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:230</div></div>
<div class="ttc" id="aclassMotor_html_a17f9e1e193961edc117026f80e806d49"><div class="ttname"><a href="classMotor.html#a17f9e1e193961edc117026f80e806d49">Motor::advancePWM</a></div><div class="ttdeci">unsigned int advancePWM(unsigned int PWM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:80</div></div>
<div class="ttc" id="aclassMotor_html_a190bda1f77605d10bcbacceb2e465bf0"><div class="ttname"><a href="classMotor.html#a190bda1f77605d10bcbacceb2e465bf0">Motor::resetCurrPulse</a></div><div class="ttdeci">long resetCurrPulse()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:226</div></div>
<div class="ttc" id="aclassMotor_html_a1bc02b7e0da3aca6e724d2755d42eaab"><div class="ttname"><a href="classMotor.html#a1bc02b7e0da3aca6e724d2755d42eaab">Motor::PIDGetStatus</a></div><div class="ttdeci">bool PIDGetStatus() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:149</div></div>
<div class="ttc" id="aclassMotor_html_a2aaead147c8cb1a712db027f9cb70e33"><div class="ttname"><a href="classMotor.html#a2aaead147c8cb1a712db027f9cb70e33">Motor::setDesiredDir</a></div><div class="ttdeci">bool setDesiredDir(bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:92</div></div>
<div class="ttc" id="aclassMotor_html_a3377631cff641d41a50b7f1c5b30fc1f"><div class="ttname"><a href="classMotor.html#a3377631cff641d41a50b7f1c5b30fc1f">Motor::PIDSetSpeedRPMDesired</a></div><div class="ttdeci">unsigned int PIDSetSpeedRPMDesired(unsigned int speedRPM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:180</div></div>
<div class="ttc" id="aclassMotor_html_a3a1771db56274e5c06625d33a098932f"><div class="ttname"><a href="classMotor.html#a3a1771db56274e5c06625d33a098932f">Motor::getPinIRQB</a></div><div class="ttdeci">unsigned char getPinIRQB() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:67</div></div>
<div class="ttc" id="aclassMotor_html_a54f6cdff2ab028fdd2724fbf40c3f641"><div class="ttname"><a href="classMotor.html#a54f6cdff2ab028fdd2724fbf40c3f641">Motor::getCurrPulse</a></div><div class="ttdeci">long getCurrPulse() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:219</div></div>
<div class="ttc" id="aclassMotor_html_a55a0ba922517197fd01caac36c84c682"><div class="ttname"><a href="classMotor.html#a55a0ba922517197fd01caac36c84c682">Motor::debugger</a></div><div class="ttdeci">void debugger() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:240</div></div>
<div class="ttc" id="aclassMotor_html_a5e5d272254ecd37a082fc467e9cd2610"><div class="ttname"><a href="classMotor.html#a5e5d272254ecd37a082fc467e9cd2610">Motor::getSpeedPPS</a></div><div class="ttdeci">int getSpeedPPS() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:216</div></div>
<div class="ttc" id="aclassMotor_html_a6358811a51b7636b06199972b7fae417"><div class="ttname"><a href="classMotor.html#a6358811a51b7636b06199972b7fae417">Motor::PIDDisable</a></div><div class="ttdeci">bool PIDDisable()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:159</div></div>
<div class="ttc" id="aclassMotor_html_a653642c0cba985a85204fbfe81cf3c8a"><div class="ttname"><a href="classMotor.html#a653642c0cba985a85204fbfe81cf3c8a">Motor::setCurrPulse</a></div><div class="ttdeci">long setCurrPulse(long _pulse)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:222</div></div>
<div class="ttc" id="aclassMotor_html_a785eadb656e31e62b1f1515004344ae0"><div class="ttname"><a href="classMotor.html#a785eadb656e31e62b1f1515004344ae0">Motor::getPinIRQ</a></div><div class="ttdeci">unsigned char getPinIRQ() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:63</div></div>
<div class="ttc" id="aclassMotor_html_a826a3f1ffd48fd6f49d74caf7ad68dad"><div class="ttname"><a href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">Motor::setupInterrupt</a></div><div class="ttdeci">void setupInterrupt()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:33</div></div>
<div class="ttc" id="aclassMotor_html_a8d707212e2395830a9064712df1c4f68"><div class="ttname"><a href="classMotor.html#a8d707212e2395830a9064712df1c4f68">Motor::setSpeedRPM</a></div><div class="ttdeci">unsigned int setSpeedRPM(int speedRPM, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:129</div></div>
<div class="ttc" id="aclassMotor_html_a9462d1a9af69941100f422ce1a0faeff"><div class="ttname"><a href="classMotor.html#a9462d1a9af69941100f422ce1a0faeff">Motor::setCurrDir</a></div><div class="ttdeci">bool setCurrDir()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:111</div></div>
<div class="ttc" id="aclassMotor_html_a9ca625db156da95bc5f4500c294f8e83"><div class="ttname"><a href="classMotor.html#a9ca625db156da95bc5f4500c294f8e83">Motor::PIDGetSpeedRPMDesired</a></div><div class="ttdeci">unsigned int PIDGetSpeedRPMDesired() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:186</div></div>
<div class="ttc" id="aclassMotor_html_aa41934a55ada6dabb95b6741b6d964d3"><div class="ttname"><a href="classMotor.html#aa41934a55ada6dabb95b6741b6d964d3">Motor::getPWM</a></div><div class="ttdeci">unsigned int getPWM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:88</div></div>
<div class="ttc" id="aclassMotor_html_aa44fc307611e45eeb5e6fb50c79f375b"><div class="ttname"><a href="classMotor.html#aa44fc307611e45eeb5e6fb50c79f375b">Motor::PIDRegulate</a></div><div class="ttdeci">bool PIDRegulate(bool doRegulate=true)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:191</div></div>
<div class="ttc" id="aclassMotor_html_aa813d431c39937e90e91f3ad2fbf625d"><div class="ttname"><a href="classMotor.html#aa813d431c39937e90e91f3ad2fbf625d">Motor::getDesiredDir</a></div><div class="ttdeci">bool getDesiredDir() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:98</div></div>
<div class="ttc" id="aclassMotor_html_aaedede5ddae28b6926204dc7a47e0612"><div class="ttname"><a href="classMotor.html#aaedede5ddae28b6926204dc7a47e0612">Motor::getCurrDir</a></div><div class="ttdeci">bool getCurrDir() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:108</div></div>
<div class="ttc" id="aclassMotor_html_acab1e83ffdd286821aa69af770294fae"><div class="ttname"><a href="classMotor.html#acab1e83ffdd286821aa69af770294fae">Motor::isr</a></div><div class="ttdeci">struct ISRVars * isr</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:198</div></div>
<div class="ttc" id="aclassMotor_html_ad02c1db58f8f247f4e8becc19d1c7054"><div class="ttname"><a href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">Motor::getPinPWM</a></div><div class="ttdeci">unsigned char getPinPWM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:55</div></div>
<div class="ttc" id="aclassMotor_html_ad4e09298c4c8b99ab467a4262d8a3207"><div class="ttname"><a href="classMotor.html#ad4e09298c4c8b99ab467a4262d8a3207">Motor::runPWM</a></div><div class="ttdeci">unsigned int runPWM(unsigned int PWM, bool dir, bool saveDir=true)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:72</div></div>
<div class="ttc" id="aclassMotor_html_ad6ee53cd8570f60ae5dd83b8604b00fe"><div class="ttname"><a href="classMotor.html#ad6ee53cd8570f60ae5dd83b8604b00fe">Motor::PIDEnable</a></div><div class="ttdeci">bool PIDEnable(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:153</div></div>
<div class="ttc" id="aclassMotor_html_ada15a2f02a7945a458b48e829b6a5d6b"><div class="ttname"><a href="classMotor.html#ada15a2f02a7945a458b48e829b6a5d6b">Motor::getSpeedRPM</a></div><div class="ttdeci">int getSpeedRPM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:136</div></div>
<div class="ttc" id="aclassMotor_html_ae14f43483f26152d92c88aa4c6a7a471"><div class="ttname"><a href="classMotor.html#ae14f43483f26152d92c88aa4c6a7a471">Motor::PIDReset</a></div><div class="ttdeci">bool PIDReset()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:164</div></div>
<div class="ttc" id="aclassMotor_html_aeddf9353baeaa0ad9e6de0df5d3e73e8"><div class="ttname"><a href="classMotor.html#aeddf9353baeaa0ad9e6de0df5d3e73e8">Motor::reverseDesiredDir</a></div><div class="ttdeci">bool reverseDesiredDir()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:102</div></div>
<div class="ttc" id="aclassMotor_html_aefe7b72985f51315c7ffe81fbf66869c"><div class="ttname"><a href="classMotor.html#aefe7b72985f51315c7ffe81fbf66869c">Motor::backoffPWM</a></div><div class="ttdeci">unsigned int backoffPWM(unsigned int PWM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:84</div></div>
<div class="ttc" id="aclassMotor_html_af085804880a48840dc3d1d088911695e"><div class="ttname"><a href="classMotor.html#af085804880a48840dc3d1d088911695e">Motor::getPinDir</a></div><div class="ttdeci">unsigned char getPinDir() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:59</div></div>
<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> PID_Beta6.h:5</div></div>
<div class="ttc" id="astructISRVars_html"><div class="ttname"><a href="structISRVars.html">ISRVars</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:131</div></div>
<div class="ttc" id="astructISRVars_html_a24a642bb0d154409a0c7799c6e79552a"><div class="ttname"><a href="structISRVars.html#a24a642bb0d154409a0c7799c6e79552a">ISRVars::pinIRQB</a></div><div class="ttdeci">unsigned char pinIRQB</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:141</div></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="preprocessor">#define PID_Beta6_h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="classPID.html"> 4</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPID.html">PID</a></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;{</div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="PID__Beta6_8h.html#a0cc6f7717df9fbdc0f33efb88720a639"> 10</a></span>&#160;<span class="preprocessor"> #define AUTO 1</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="PID__Beta6_8h.html#a8187a9af791c0a44ba67edd9cf266961"> 11</a></span>&#160;<span class="preprocessor"> #define MANUAL 0</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="PID__Beta6_8h.html#a8650e6793d46032c617bb7b824f90bfd"> 12</a></span>&#160;<span class="preprocessor"> #define LIBRARY_VERSION 0.6</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; <span class="comment">//commonly used functions **************************************************************************</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160; <a class="code" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a>(<span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="comment">// * constructor. links the PID to the Input, Output, and </span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; <span class="keywordtype">float</span>, <span class="keywordtype">float</span>, <span class="keywordtype">float</span>); <span class="comment">// Setpoint. Initial tuning parameters are also set here</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160; <a class="code" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a>(<span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="comment">// * Overloaded Constructor. if the user wants to implement</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160; <span class="keywordtype">int</span>*, <span class="keywordtype">float</span>, <span class="keywordtype">float</span>, <span class="keywordtype">float</span>); <span class="comment">// feed-forward</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">SetMode</a>(<span class="keywordtype">int</span> Mode); <span class="comment">// * sets PID to either Manual (0) or Auto (non-0)</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPID.html#a05a3258d4b553e7a121f7360ffe88065">Compute</a>(); <span class="comment">// * performs the PID calculation. it should be</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; <span class="comment">// called every time loop() cycles. ON/OFF and</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; <span class="comment">// calculation frequency can be set using SetMode</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; <span class="comment">// SetSampleTime respectively</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPID.html#aa84bd27695ea7b6f80a0a6170abb410f">SetInputLimits</a>(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>); <span class="comment">//Tells the PID what 0-100% are for the Input</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">SetOutputLimits</a>(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>); <span class="comment">//Tells the PID what 0-100% are for the Output</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="comment">//available but not commonly used functions ********************************************************</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPID.html#aa51d6ef0803413fd0da475406a5ae6ad">SetTunings</a>(<span class="keywordtype">float</span>, <span class="keywordtype">float</span>, <span class="comment">// * While most users will set the tunings once in the </span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; <span class="keywordtype">float</span>); <span class="comment">// constructor, this function gives the user the option</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; <span class="comment">// of changing tunings during runtime for Adaptive control</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPID.html#aaa1e0e67a0c97571bd62b326e6cf3b2e">SetSampleTime</a>(<span class="keywordtype">int</span>); <span class="comment">// * sets the frequency, in Milliseconds, with which </span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; <span class="comment">// the PID calculation is performed. default is 1000 </span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPID.html#a9f949fd4445477ee9bf1af2bfa3e1a84">Reset</a>(); <span class="comment">// * reinitializes controller internals. automatically</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; <span class="comment">// called on a manual to auto transition</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">JustCalculated</a>(); <span class="comment">// * in certain situations, it helps to know when the PID has</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; <span class="comment">// computed this bit will be true for one cycle after the</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; <span class="comment">// pid calculation has occurred</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <span class="comment">//Status functions allow you to query current PID constants ***************************************</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classPID.html#acc325db5e6a140b92c8199a66e03491b">GetMode</a>();</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classPID.html#a7c6fb1d00b7ceb89f833c85a10425a99">GetINMin</a>();</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classPID.html#aada1bd2d75fc4cfb8d4e8b3bb7d6efb3">GetINMax</a>();</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classPID.html#a3d18162a81fab3b59b66f2398c2f55da">GetOUTMin</a>();</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classPID.html#afca76f72062cde15b4d738b693215bf6">GetOUTMax</a>();</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classPID.html#aefa4318e7ab26fbdfd7a2f6870d694e8">GetSampleTime</a>();</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classPID.html#a44a5a23e5ab0ebc59ac56cd6e63a74e9">GetP_Param</a>();</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classPID.html#a5dcf844aec5142d13f0e1a9af2eac237">GetI_Param</a>();</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classPID.html#a752d07a63dd8d90191a28d24ea85861c">GetD_Param</a>();</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="keywordtype">void</span> ConstructorCommon(<span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="comment">// * code that is shared by the constructors</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="keywordtype">float</span>, <span class="keywordtype">float</span>, <span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="comment">//scaled, tweaked parameters we&#39;ll actually be using</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; <span class="keywordtype">float</span> kc; <span class="comment">// * (P)roportional Tuning Parameter</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <span class="keywordtype">float</span> taur; <span class="comment">// * (I)ntegral Tuning Parameter</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <span class="keywordtype">float</span> taud; <span class="comment">// * (D)erivative Tuning Parameter</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; <span class="keywordtype">float</span> cof_A;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keywordtype">float</span> cof_B;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; <span class="keywordtype">float</span> cof_C;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <span class="comment">//nice, pretty parameters we&#39;ll give back to the user if they ask what the tunings are</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="keywordtype">float</span> P_Param;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <span class="keywordtype">float</span> I_Param;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <span class="keywordtype">float</span> D_Param;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; <span class="keywordtype">int</span> *myInput; <span class="comment">// * Pointers to the Input, Output, and Setpoint variables</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; <span class="keywordtype">int</span> *myOutput; <span class="comment">// This creates a hard link between the variables and the </span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; <span class="keywordtype">int</span> *mySetpoint; <span class="comment">// PID, freeing the user from having to constantly tell us</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; <span class="comment">// what these values are. with pointers we&#39;ll just know.</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <span class="keywordtype">int</span> *myBias; <span class="comment">// * Pointer to the External FeedForward bias, only used </span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; <span class="comment">// if the advanced constructor is used</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160; <span class="keywordtype">bool</span> UsingFeedForward; <span class="comment">// * internal flag that tells us if we&#39;re using FeedForward or not</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> nextCompTime; <span class="comment">// * Helps us figure out when the PID Calculation needs to</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <span class="comment">// be performed next</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; <span class="comment">// to determine when to compute next</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> tSample; <span class="comment">// * the frequency, in milliseconds, with which we want the</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; <span class="comment">// the PID calculation to occur.</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; <span class="keywordtype">bool</span> inAuto; <span class="comment">// * Flag letting us know if we are in Automatic or not</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <span class="comment">// the derivative required for the D term</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; <span class="comment">//float accError; // * the (I)ntegral term is based on the sum of error over</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; <span class="comment">// time. this variable keeps track of that</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; <span class="keywordtype">float</span> bias; <span class="comment">// * the base output from which the PID operates</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; <span class="keywordtype">int</span> Err;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; <span class="keywordtype">int</span> lastErr;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; <span class="keywordtype">int</span> prevErr;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160; <span class="keywordtype">float</span> inMin, inSpan; <span class="comment">// * input and output limits, and spans. used convert</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; <span class="keywordtype">float</span> outMin, outSpan; <span class="comment">// real world numbers into percent span, with which</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; <span class="comment">// the PID algorithm is more comfortable.</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160; <span class="keywordtype">bool</span> justCalced; <span class="comment">// * flag gets set for one cycle after the pid calculates</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160;};</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; </div>
<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> PID_Beta6.h:5</div></div>
<div class="ttc" id="aclassPID_html_a05a3258d4b553e7a121f7360ffe88065"><div class="ttname"><a href="classPID.html#a05a3258d4b553e7a121f7360ffe88065">PID::Compute</a></div><div class="ttdeci">void Compute()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:207</div></div>
<div class="ttc" id="aclassPID_html_a34178c5110d89a8029e403f6ef5d003d"><div class="ttname"><a href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">PID::JustCalculated</a></div><div class="ttdeci">bool JustCalculated()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:266</div></div>
<div class="ttc" id="aclassPID_html_a3d18162a81fab3b59b66f2398c2f55da"><div class="ttname"><a href="classPID.html#a3d18162a81fab3b59b66f2398c2f55da">PID::GetOUTMin</a></div><div class="ttdeci">int GetOUTMin()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:284</div></div>
<div class="ttc" id="aclassPID_html_a44a5a23e5ab0ebc59ac56cd6e63a74e9"><div class="ttname"><a href="classPID.html#a44a5a23e5ab0ebc59ac56cd6e63a74e9">PID::GetP_Param</a></div><div class="ttdeci">float GetP_Param()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:296</div></div>
<div class="ttc" id="aclassPID_html_a5dcf844aec5142d13f0e1a9af2eac237"><div class="ttname"><a href="classPID.html#a5dcf844aec5142d13f0e1a9af2eac237">PID::GetI_Param</a></div><div class="ttdeci">float GetI_Param()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:300</div></div>
<div class="ttc" id="aclassPID_html_a68074bad88a8cc442ee03a036073d5d5"><div class="ttname"><a href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">PID::SetMode</a></div><div class="ttdeci">void SetMode(int Mode)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:156</div></div>
<div class="ttc" id="aclassPID_html_a70a457a8b2d0f2306923c30282567af6"><div class="ttname"><a href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID::PID</a></div><div class="ttdeci">PID(int *, int *, int *, float, float, float)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:18</div></div>
<div class="ttc" id="aclassPID_html_a752d07a63dd8d90191a28d24ea85861c"><div class="ttname"><a href="classPID.html#a752d07a63dd8d90191a28d24ea85861c">PID::GetD_Param</a></div><div class="ttdeci">float GetD_Param()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:305</div></div>
<div class="ttc" id="aclassPID_html_a7a1fbe9bbf606557cef3fcf07f04d3f6"><div class="ttname"><a href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">PID::SetOutputLimits</a></div><div class="ttdeci">void SetOutputLimits(int, int)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:91</div></div>
<div class="ttc" id="aclassPID_html_a7c6fb1d00b7ceb89f833c85a10425a99"><div class="ttname"><a href="classPID.html#a7c6fb1d00b7ceb89f833c85a10425a99">PID::GetINMin</a></div><div class="ttdeci">int GetINMin()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:276</div></div>
<div class="ttc" id="aclassPID_html_a9f949fd4445477ee9bf1af2bfa3e1a84"><div class="ttname"><a href="classPID.html#a9f949fd4445477ee9bf1af2bfa3e1a84">PID::Reset</a></div><div class="ttdeci">void Reset()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:141</div></div>
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<a href="PinChangeIntConfig_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160; </div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// This file is used to separate the changes you make to personalize the </span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// Pin Change Interrupt library from any future changes to the library itself.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// Ideally it would reside in the folder of the current sketch, but I have not </span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment">// figured out how such a file can be included from a library.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">// Nothing is required to be defined within this file since default values are</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">// Uncomment the line below to limit the handler to servicing a single interrupt per invocation.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">//#define DISABLE_PCINT_MULTI_SERVICE</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">// Define the value MAX_PIN_CHANGE_PINS to limit the number of pins that may be </span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment">// used for pin change interrupts. This value determines the number of pin change </span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment">// interrupts supported for all ports.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment">//#define MAX_PIN_CHANGE_PINS 2</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment">// declare ports without pin change interrupts used</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment">//#define NO_PORTB_PINCHANGES</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment">//#define NO_PORTC_PINCHANGES</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment">//#define NO_PORTD_PINCHANGES</span></div>
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<p><a href="PinChangeInt_8h_source.html">Go to the source code of this file.</a></p>
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<li class="navelem"><a class="el" href="dir_97aefd0d527b934f1d99a682da8fe6a9.html">lib</a></li><li class="navelem"><a class="el" href="dir_0f386e5012f166522d8afb320f99104b.html">PinChangeInt</a></li> </ul>
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<a href="PinChangeInt_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> PinChangeInt.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160; </div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#ifndef PinChangeInt_h</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="preprocessor">#define PinChangeInt_h</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="preprocessor">#if defined(ARDUINO) &amp;&amp; ARDUINO &gt;= 100</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#include &quot;Arduino.h&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="preprocessor">#include &quot;WProgram.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PinChangeIntConfig_8h.html">PinChangeIntConfig.h</a>&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#ifndef Pins_Arduino_h</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &quot;pins_arduino.h&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment">// This library was inspired by and derived from &quot;johnboiles&quot; (it seems) Main.PCInt Arduino Playground example</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment">// see: http://www.arduino.cc/playground/Main/PcInt</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment">// Interrupt management for PCI</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="comment"> * an extension to the interrupt support for arduino.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="comment"> * add pin change interrupts to the external interrupts, giving a way</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="comment"> * for users to have interrupts drive off of any pin.</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="comment"> * Refer to avr-gcc header files, arduino source and atmega datasheet.</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="comment"> * Theory: all IO pins on AtmegaX(168/328/1280/2560) are covered by Pin Change Interrupts.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="comment"> * The PCINT corresponding to the pin must be enabled and masked, and</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="comment"> * an ISR routine provided. Since PCINTs are per port, not per pin, the ISR</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="comment"> * must use some logic to actually implement a per-pin interrupt service.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="comment">/* Pin to interrupt map ON ATmega168/328:</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="comment"> * D0-D7 = PCINT 16-23 = PCIR2 = PD = PCIE2 = pcmsk2</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="comment"> * D8-D13 = PCINT 0-5 = PCIR0 = PB = PCIE0 = pcmsk0</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="comment"> * A0-A5 (D14-D19) = PCINT 8-13 = PCIR1 = PC = PCIE1 = pcmsk1</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="comment">/* Pin to interrupt map ON ATmega1280/2560:</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;<span class="comment"> * D50-D53 = PCINT 3-0 = PCIR0 = PB = PCIE0 = pcmsk0</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="comment"> * D10-D13 = PCINT 4-7 = PCIR0 = PB = PCIE0 = pcmsk0</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="comment"> * A8-A15 (D62-D69) = PCINT 16-23 = PCIR2 = Pk = PCIE2 = pcmsk2</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;<span class="comment"> </span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;<span class="comment"> * *******D0 = PCINT 8 = PCIR1 = PE = PCIE1 = pcmsk1**********</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;<span class="comment"> * *******D14-D15 = PCINT 10-9 = PJ = PCIE1 = pcmsk1*********</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;<span class="comment"> ********NOTE:PCINT 8-15 does NOT available in this library******</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;<span class="comment"> Please make any configuration changes in the accompanying PinChangeIntConfig.h file.</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;<span class="comment"> This will help avoid having to reset your config in the event of changes to the </span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;<span class="comment"> library code (just don&#39;t replace that file when you update).</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160;<span class="preprocessor">#ifndef MAX_PIN_CHANGE_PINS</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="PinChangeInt_8h.html#adc5e9b3687e8ad666a52ec695a69081c"> 65</a></span>&#160;<span class="preprocessor">#define MAX_PIN_CHANGE_PINS 8</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;<span class="comment">// You can reduce the memory footprint of this handler by declaring that there will be no pin change interrupts</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;<span class="comment">// on any of the three ports.</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;<span class="comment">// define NO_PORTB_PINCHANGES to indicate that port b will not be used for pin change interrupts</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;<span class="comment">// define NO_PORTC_PINCHANGES to indicate that port c will not be used for pin change interrupts</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;<span class="comment">// define NO_PORTD_PINCHANGES to indicate that port d will not be used for pin change interrupts</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;<span class="comment">// If only a single port remains, the handler will be declared inline reducing the size and latency </span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;<span class="comment">// of the handler.</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160;<span class="comment">// if their is only one PCInt vector in use the code can be inlined</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160;<span class="comment">// reducing latecncy and code size</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="PinChangeInt_8h.html#affe455978cc6fe5b0cff09a1b93202c7"> 78</a></span>&#160;<span class="preprocessor">#define INLINE_PCINT</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160;<span class="preprocessor">#if ((defined(NO_PORTB_PINCHANGES) &amp;&amp; defined(NO_PORTC_PINCHANGES)) || \</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160;<span class="preprocessor"> (defined(NO_PORTC_PINCHANGES) &amp;&amp; defined(NO_PORTD_PINCHANGES)) || \</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;<span class="preprocessor"> (defined(NO_PORTD_PINCHANGES) &amp;&amp; defined(NO_PORTB_PINCHANGES)))</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;<span class="preprocessor">#undef INLINE_PCINT</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;<span class="preprocessor">#define INLINE_PCINT inline</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160;<span class="comment">// Provide drop in compatibility with johnboiles PCInt project at</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;<span class="comment">// http://www.arduino.cc/playground/Main/PcInt</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="PinChangeInt_8h.html#a6b21b6a0a033a5a5c0ae3c07aa899a9f"> 88</a></span>&#160;<span class="preprocessor">#define PCdetachInterrupt(pin) PCintPort::detachInterrupt(pin)</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="PinChangeInt_8h.html#aa5908a22250605213e3874e2b0288a5d"> 89</a></span>&#160;<span class="preprocessor">#define PCattachInterrupt(pin,userFunc,mode) PCintPort::attachInterrupt(pin, userFunc,mode)</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a"> 93</a></span>&#160;<span class="keyword">typedef</span> void (*<a class="code" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a>)(void);</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classPCintPort.html"> 95</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPCintPort.html">PCintPort</a> {</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; <a class="code" href="classPCintPort.html">PCintPort</a>(<span class="keywordtype">int</span> index,<span class="keyword">volatile</span> uint8_t&amp; maskReg) :</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160;<span class="preprocessor"> #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; <a class="code" href="classPCintPort.html#ab36a9f3ef148411101704f3723d5cd0d">portInputReg</a>(*portInputRegister((index == 0)?(2):(index + 9))),</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160;<span class="preprocessor"> #else</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; <a class="code" href="classPCintPort.html#ab36a9f3ef148411101704f3723d5cd0d">portInputReg</a>(*portInputRegister(index + 2)),</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;<span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; <a class="code" href="classPCintPort.html#abe34a54a1b1bd8b2404b9227b55147fb">pcmask</a>(maskReg),</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; <a class="code" href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7">PCICRbit</a>(1 &lt;&lt; index),</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160; <a class="code" href="classPCintPort.html#a955b8648c929952a8444656276e1b6ef">PCintLast</a>(0) {</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 9; i++) {</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; <a class="code" href="classPCintPort.html#a068bde359af5d3567e4d031d9ac9c655">pcIntPins</a>[i] = NULL;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160; }</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160; }</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160; <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classPCintPort.html#a8e6c9a8a860c39f6840a8b986c00e8d7">attachInterrupt</a>(uint8_t pin, <a class="code" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a> userFunc, <span class="keywordtype">int</span> mode);</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classPCintPort.html#a7787c29d639bc6c1a30a14acb0f9fb9a">detachInterrupt</a>(uint8_t pin);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160; <a class="code" href="PinChangeInt_8h.html#affe455978cc6fe5b0cff09a1b93202c7">INLINE_PCINT</a> <span class="keywordtype">void</span> <a class="code" href="classPCintPort.html#a576bbb5d4190a7af0de2528760933916">PCint</a>();</div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classPCintPort.html#a9d5cdcb0bddf88489fccb288be9ebf3e"> 115</a></span>&#160; <span class="keyword">static</span> <a class="code" href="classPCintPort.html">PCintPort</a> <a class="code" href="classPCintPort.html#a9d5cdcb0bddf88489fccb288be9ebf3e">pcIntPorts</a>[];</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classPCintPort_1_1PCintPin.html"> 118</a></span>&#160; <span class="keyword">class </span><a class="code" href="classPCintPort_1_1PCintPin.html">PCintPin</a> {</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classPCintPort_1_1PCintPin.html#a042bb6da7549a825e4c0231af7079533"> 120</a></span>&#160; <a class="code" href="classPCintPort_1_1PCintPin.html#a042bb6da7549a825e4c0231af7079533">PCintPin</a>() :</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160; <a class="code" href="classPCintPort_1_1PCintPin.html#a5f1750440a39afc1e0b7ec885bd90282">PCintFunc</a>((<a class="code" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a>)NULL),</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160; <a class="code" href="classPCintPort_1_1PCintPin.html#aded6dbbea2aa1ebd77133332b3c98556">PCintMode</a>(0) {}</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classPCintPort_1_1PCintPin.html#a5f1750440a39afc1e0b7ec885bd90282"> 123</a></span>&#160; <a class="code" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a> <a class="code" href="classPCintPort_1_1PCintPin.html#a5f1750440a39afc1e0b7ec885bd90282">PCintFunc</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classPCintPort_1_1PCintPin.html#aded6dbbea2aa1ebd77133332b3c98556"> 124</a></span>&#160; uint8_t <a class="code" href="classPCintPort_1_1PCintPin.html#aded6dbbea2aa1ebd77133332b3c98556">PCintMode</a>;</div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classPCintPort_1_1PCintPin.html#aec2baaa5bc8af4f7f3310bae39e8304c"> 125</a></span>&#160; uint8_t <a class="code" href="classPCintPort_1_1PCintPin.html#aec2baaa5bc8af4f7f3310bae39e8304c">PCIntMask</a>;</div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classPCintPort_1_1PCintPin.html#a934bbc672c5e9faa448477ecb93c7955"> 126</a></span>&#160; <span class="keyword">static</span> <a class="code" href="classPCintPort_1_1PCintPin.html">PCintPin</a> <a class="code" href="classPCintPort_1_1PCintPin.html#a934bbc672c5e9faa448477ecb93c7955">pinDataAlloc</a>[<a class="code" href="PinChangeInt_8h.html#adc5e9b3687e8ad666a52ec695a69081c">MAX_PIN_CHANGE_PINS</a>];</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160; };</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPCintPort.html#a68db5c9fc10ce5d054c4184dbd00adeb">addPin</a>(uint8_t mode,uint8_t mask,<a class="code" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a> userFunc);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classPCintPort.html#afecea645c5a79b54eab38b11c8ba19a6">delPin</a>(uint8_t mask);</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classPCintPort.html#ab36a9f3ef148411101704f3723d5cd0d"> 130</a></span>&#160; <span class="keyword">volatile</span> uint8_t&amp; <a class="code" href="classPCintPort.html#ab36a9f3ef148411101704f3723d5cd0d">portInputReg</a>;</div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classPCintPort.html#abe34a54a1b1bd8b2404b9227b55147fb"> 131</a></span>&#160; <span class="keyword">volatile</span> uint8_t&amp; <a class="code" href="classPCintPort.html#abe34a54a1b1bd8b2404b9227b55147fb">pcmask</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7"> 132</a></span>&#160; <span class="keyword">const</span> uint8_t <a class="code" href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7">PCICRbit</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classPCintPort.html#a955b8648c929952a8444656276e1b6ef"> 133</a></span>&#160; uint8_t <a class="code" href="classPCintPort.html#a955b8648c929952a8444656276e1b6ef">PCintLast</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classPCintPort.html#a068bde359af5d3567e4d031d9ac9c655"> 134</a></span>&#160; <a class="code" href="classPCintPort_1_1PCintPin.html">PCintPin</a>* <a class="code" href="classPCintPort.html#a068bde359af5d3567e4d031d9ac9c655">pcIntPins</a>[9]; <span class="comment">// extra entry is a barrier</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160;};</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aPinChangeIntConfig_8h_html"><div class="ttname"><a href="PinChangeIntConfig_8h.html">PinChangeIntConfig.h</a></div></div>
<div class="ttc" id="aPinChangeInt_8h_html_a40b7734100b16d4ac170f568c7914d0a"><div class="ttname"><a href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a></div><div class="ttdeci">void(* PCIntvoidFuncPtr)(void)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:93</div></div>
<div class="ttc" id="aPinChangeInt_8h_html_adc5e9b3687e8ad666a52ec695a69081c"><div class="ttname"><a href="PinChangeInt_8h.html#adc5e9b3687e8ad666a52ec695a69081c">MAX_PIN_CHANGE_PINS</a></div><div class="ttdeci">#define MAX_PIN_CHANGE_PINS</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:65</div></div>
<div class="ttc" id="aPinChangeInt_8h_html_affe455978cc6fe5b0cff09a1b93202c7"><div class="ttname"><a href="PinChangeInt_8h.html#affe455978cc6fe5b0cff09a1b93202c7">INLINE_PCINT</a></div><div class="ttdeci">#define INLINE_PCINT</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:78</div></div>
<div class="ttc" id="aclassPCintPort_1_1PCintPin_html"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html">PCintPort::PCintPin</a></div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:118</div></div>
<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_a042bb6da7549a825e4c0231af7079533"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#a042bb6da7549a825e4c0231af7079533">PCintPort::PCintPin::PCintPin</a></div><div class="ttdeci">PCintPin()</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:120</div></div>
<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_a5f1750440a39afc1e0b7ec885bd90282"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#a5f1750440a39afc1e0b7ec885bd90282">PCintPort::PCintPin::PCintFunc</a></div><div class="ttdeci">PCIntvoidFuncPtr PCintFunc</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:123</div></div>
<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_a934bbc672c5e9faa448477ecb93c7955"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#a934bbc672c5e9faa448477ecb93c7955">PCintPort::PCintPin::pinDataAlloc</a></div><div class="ttdeci">static PCintPin pinDataAlloc[MAX_PIN_CHANGE_PINS]</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:126</div></div>
<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_aded6dbbea2aa1ebd77133332b3c98556"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#aded6dbbea2aa1ebd77133332b3c98556">PCintPort::PCintPin::PCintMode</a></div><div class="ttdeci">uint8_t PCintMode</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:124</div></div>
<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_aec2baaa5bc8af4f7f3310bae39e8304c"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#aec2baaa5bc8af4f7f3310bae39e8304c">PCintPort::PCintPin::PCIntMask</a></div><div class="ttdeci">uint8_t PCIntMask</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:125</div></div>
<div class="ttc" id="aclassPCintPort_html"><div class="ttname"><a href="classPCintPort.html">PCintPort</a></div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:95</div></div>
<div class="ttc" id="aclassPCintPort_html_a068bde359af5d3567e4d031d9ac9c655"><div class="ttname"><a href="classPCintPort.html#a068bde359af5d3567e4d031d9ac9c655">PCintPort::pcIntPins</a></div><div class="ttdeci">PCintPin * pcIntPins[9]</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:134</div></div>
<div class="ttc" id="aclassPCintPort_html_a576bbb5d4190a7af0de2528760933916"><div class="ttname"><a href="classPCintPort.html#a576bbb5d4190a7af0de2528760933916">PCintPort::PCint</a></div><div class="ttdeci">INLINE_PCINT void PCint()</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:139</div></div>
<div class="ttc" id="aclassPCintPort_html_a68db5c9fc10ce5d054c4184dbd00adeb"><div class="ttname"><a href="classPCintPort.html#a68db5c9fc10ce5d054c4184dbd00adeb">PCintPort::addPin</a></div><div class="ttdeci">void addPin(uint8_t mode, uint8_t mask, PCIntvoidFuncPtr userFunc)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:17</div></div>
<div class="ttc" id="aclassPCintPort_html_a7787c29d639bc6c1a30a14acb0f9fb9a"><div class="ttname"><a href="classPCintPort.html#a7787c29d639bc6c1a30a14acb0f9fb9a">PCintPort::detachInterrupt</a></div><div class="ttdeci">static void detachInterrupt(uint8_t pin)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:115</div></div>
<div class="ttc" id="aclassPCintPort_html_a8e6c9a8a860c39f6840a8b986c00e8d7"><div class="ttname"><a href="classPCintPort.html#a8e6c9a8a860c39f6840a8b986c00e8d7">PCintPort::attachInterrupt</a></div><div class="ttdeci">static void attachInterrupt(uint8_t pin, PCIntvoidFuncPtr userFunc, int mode)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:81</div></div>
<div class="ttc" id="aclassPCintPort_html_a955b8648c929952a8444656276e1b6ef"><div class="ttname"><a href="classPCintPort.html#a955b8648c929952a8444656276e1b6ef">PCintPort::PCintLast</a></div><div class="ttdeci">uint8_t PCintLast</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:133</div></div>
<div class="ttc" id="aclassPCintPort_html_a9d5cdcb0bddf88489fccb288be9ebf3e"><div class="ttname"><a href="classPCintPort.html#a9d5cdcb0bddf88489fccb288be9ebf3e">PCintPort::pcIntPorts</a></div><div class="ttdeci">static PCintPort pcIntPorts[]</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:115</div></div>
<div class="ttc" id="aclassPCintPort_html_ab36a9f3ef148411101704f3723d5cd0d"><div class="ttname"><a href="classPCintPort.html#ab36a9f3ef148411101704f3723d5cd0d">PCintPort::portInputReg</a></div><div class="ttdeci">volatile uint8_t &amp; portInputReg</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:130</div></div>
<div class="ttc" id="aclassPCintPort_html_ab817a0637b722922c5d3cafc0dfd52d7"><div class="ttname"><a href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7">PCintPort::PCICRbit</a></div><div class="ttdeci">const uint8_t PCICRbit</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:132</div></div>
<div class="ttc" id="aclassPCintPort_html_abe34a54a1b1bd8b2404b9227b55147fb"><div class="ttname"><a href="classPCintPort.html#abe34a54a1b1bd8b2404b9227b55147fb">PCintPort::pcmask</a></div><div class="ttdeci">volatile uint8_t &amp; pcmask</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:131</div></div>
<div class="ttc" id="aclassPCintPort_html_afecea645c5a79b54eab38b11c8ba19a6"><div class="ttname"><a href="classPCintPort.html#afecea645c5a79b54eab38b11c8ba19a6">PCintPort::delPin</a></div><div class="ttdeci">void delPin(uint8_t mask)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:51</div></div>
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<div class="textblock"><code>#include &quot;<a class="el" href="UARTCom_8hpp_source.html">communication/UARTCom.hpp</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="UCommands_8hpp_source.html">communication/UCommands.hpp</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="UValue_8hpp_source.html">communication/UValue.hpp</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="Utils_8hpp_source.html">misc/Utils.hpp</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="constants_8h_source.html">constants.h</a>&quot;</code><br />
<code>#include &quot;MotorWheel.h&quot;</code><br />
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Include dependency graph for UARTCom.cpp:</div>
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Functions</h2></td></tr>
<tr class="memitem:a5bfcc9a4d05eaa07aff6dbc5ffbc01a4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a5bfcc9a4d05eaa07aff6dbc5ffbc01a4">parseFrameType</a> (uint8_t *d)</td></tr>
<tr class="memdesc:a5bfcc9a4d05eaa07aff6dbc5ffbc01a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">extracts frametype from data package <a href="UARTCom_8cpp.html#a5bfcc9a4d05eaa07aff6dbc5ffbc01a4">More...</a><br /></td></tr>
<tr class="separator:a5bfcc9a4d05eaa07aff6dbc5ffbc01a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d3197ea3a99346e142f898a856eba6c"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a4d3197ea3a99346e142f898a856eba6c">fromFrameType</a> (<a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a> ft)</td></tr>
<tr class="memdesc:a4d3197ea3a99346e142f898a856eba6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">translates frametype to corresponding byte value <a href="UARTCom_8cpp.html#a4d3197ea3a99346e142f898a856eba6c">More...</a><br /></td></tr>
<tr class="separator:a4d3197ea3a99346e142f898a856eba6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f281c7608e509d555fc0a09cfeff82a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a2f281c7608e509d555fc0a09cfeff82a">parseComponent</a> (uint8_t *d)</td></tr>
<tr class="memdesc:a2f281c7608e509d555fc0a09cfeff82a"><td class="mdescLeft">&#160;</td><td class="mdescRight">extract component information <a href="UARTCom_8cpp.html#a2f281c7608e509d555fc0a09cfeff82a">More...</a><br /></td></tr>
<tr class="separator:a2f281c7608e509d555fc0a09cfeff82a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a050546b686b2c4648e34f5145e8e5c3a"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a050546b686b2c4648e34f5145e8e5c3a">fromComponent</a> (<a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a> cp)</td></tr>
<tr class="memdesc:a050546b686b2c4648e34f5145e8e5c3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">translates component into byte value <a href="UARTCom_8cpp.html#a050546b686b2c4648e34f5145e8e5c3a">More...</a><br /></td></tr>
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<tr class="memitem:a67a111cec96745786304360702d7fb0d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="constants_8h.html#a83703b84abb8c92901ec1c15e0bbad80">U_Request</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a67a111cec96745786304360702d7fb0d">parseRequest</a> (uint8_t *d)</td></tr>
<tr class="memdesc:a67a111cec96745786304360702d7fb0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">extracts request information from data package <a href="UARTCom_8cpp.html#a67a111cec96745786304360702d7fb0d">More...</a><br /></td></tr>
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<tr class="memitem:ac85d37d78756559b8b923544852dd430"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#ac85d37d78756559b8b923544852dd430">parseTimestamp</a> (uint8_t *d)</td></tr>
<tr class="memdesc:ac85d37d78756559b8b923544852dd430"><td class="mdescLeft">&#160;</td><td class="mdescRight">extracts timestamp from data package <a href="UARTCom_8cpp.html#ac85d37d78756559b8b923544852dd430">More...</a><br /></td></tr>
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<tr class="memitem:a744c5a2f1e07b896f5dc1a3b352dfd2a"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a744c5a2f1e07b896f5dc1a3b352dfd2a">computeChecksum</a> (uint8_t *d, uint8_t pl)</td></tr>
<tr class="memdesc:a744c5a2f1e07b896f5dc1a3b352dfd2a"><td class="mdescLeft">&#160;</td><td class="mdescRight">computes checksum from data package <a href="UARTCom_8cpp.html#a744c5a2f1e07b896f5dc1a3b352dfd2a">More...</a><br /></td></tr>
<tr class="separator:a744c5a2f1e07b896f5dc1a3b352dfd2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09ed133ea78335824acd3d296d6d8568"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a09ed133ea78335824acd3d296d6d8568">correctChecksum</a> (uint8_t *d)</td></tr>
<tr class="memdesc:a09ed133ea78335824acd3d296d6d8568"><td class="mdescLeft">&#160;</td><td class="mdescRight">checks if checksum inside package and computed checksum from package data are the same <a href="UARTCom_8cpp.html#a09ed133ea78335824acd3d296d6d8568">More...</a><br /></td></tr>
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<tr class="memitem:ac77fffc0c7f612ccf0db14af856e3277"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#ac77fffc0c7f612ccf0db14af856e3277">showPackage</a> (uint8_t *d, int pl)</td></tr>
<tr class="memdesc:ac77fffc0c7f612ccf0db14af856e3277"><td class="mdescLeft">&#160;</td><td class="mdescRight">debugging function, prints out package data <a href="UARTCom_8cpp.html#ac77fffc0c7f612ccf0db14af856e3277">More...</a><br /></td></tr>
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<tr class="memitem:a0f9de5ab46a6f02e563fdc4634cd1b26"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a0f9de5ab46a6f02e563fdc4634cd1b26">clearPackage</a> (uint8_t *d)</td></tr>
<tr class="memdesc:a0f9de5ab46a6f02e563fdc4634cd1b26"><td class="mdescLeft">&#160;</td><td class="mdescRight">erases all package data and sets the array to 0 <a href="UARTCom_8cpp.html#a0f9de5ab46a6f02e563fdc4634cd1b26">More...</a><br /></td></tr>
<tr class="separator:a0f9de5ab46a6f02e563fdc4634cd1b26"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f3f9f5697687756152cfc8045170646"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a8f3f9f5697687756152cfc8045170646">handleRequest</a> (uint8_t *d)</td></tr>
<tr class="memdesc:a8f3f9f5697687756152cfc8045170646"><td class="mdescLeft">&#160;</td><td class="mdescRight">executes commands according to incoming request <a href="UARTCom_8cpp.html#a8f3f9f5697687756152cfc8045170646">More...</a><br /></td></tr>
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<tr class="memitem:a86f7112e2f3c0cf6e89e6cc9ce0d35bc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a86f7112e2f3c0cf6e89e6cc9ce0d35bc">handlePackage</a> (uint8_t *d, int pl)</td></tr>
<tr class="memdesc:a86f7112e2f3c0cf6e89e6cc9ce0d35bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">package handler, checks for errors first, then proceeds to extract information from the data package <a href="UARTCom_8cpp.html#a86f7112e2f3c0cf6e89e6cc9ce0d35bc">More...</a><br /></td></tr>
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Variables</h2></td></tr>
<tr class="memitem:aa786999c8aa65490b5b03fb09a9f1f98"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#aa786999c8aa65490b5b03fb09a9f1f98">currentParseIndex</a></td></tr>
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<tr class="memitem:a2eead10869c5f921ef036aa656683cd5"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a2eead10869c5f921ef036aa656683cd5">payloadLength</a></td></tr>
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<tr class="memitem:aae4c1b8c8e6cca37d95276b38497b370"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#aae4c1b8c8e6cca37d95276b38497b370">currentTimestamp</a> = 0</td></tr>
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<tr class="memitem:adeaeefb426fbd7c5a72fffec28ee0c46"><td class="memItemLeft" align="right" valign="top">MotorWheel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#adeaeefb426fbd7c5a72fffec28ee0c46">wheelLeft</a></td></tr>
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<h2 class="groupheader">Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a0f9de5ab46a6f02e563fdc4634cd1b26">&#9670;&nbsp;</a></span>clearPackage()</h2>
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<td class="memname">void clearPackage </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em></td><td>)</td>
<td></td>
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<p>erases all package data and sets the array to 0 </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>data package </td></tr>
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</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a744c5a2f1e07b896f5dc1a3b352dfd2a">&#9670;&nbsp;</a></span>computeChecksum()</h2>
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<td class="memname">uint16_t computeChecksum </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>pl</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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</table>
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<p>computes checksum from data package </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>data package </td></tr>
<tr><td class="paramname">pl</td><td>payload length </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>uint16_t </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a09ed133ea78335824acd3d296d6d8568">&#9670;&nbsp;</a></span>correctChecksum()</h2>
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<td class="memname">int correctChecksum </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>checks if checksum inside package and computed checksum from package data are the same </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>data package </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>int </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a050546b686b2c4648e34f5145e8e5c3a">&#9670;&nbsp;</a></span>fromComponent()</h2>
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<td class="memname">uint8_t fromComponent </td>
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<td class="paramname"><em>cp</em></td><td>)</td>
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<p>translates component into byte value </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">cp</td><td>component </td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>uint8_t </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a4d3197ea3a99346e142f898a856eba6c">&#9670;&nbsp;</a></span>fromFrameType()</h2>
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<td class="memname">uint8_t fromFrameType </td>
<td>(</td>
<td class="paramtype"><a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a>&#160;</td>
<td class="paramname"><em>ft</em></td><td>)</td>
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<p>translates frametype to corresponding byte value </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">ft</td><td>frametype </td></tr>
</table>
</dd>
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<dl class="section return"><dt>Returns</dt><dd>uint8_t </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a86f7112e2f3c0cf6e89e6cc9ce0d35bc">&#9670;&nbsp;</a></span>handlePackage()</h2>
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<td class="memname">void handlePackage </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>pl</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>package handler, checks for errors first, then proceeds to extract information from the data package </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td></td></tr>
<tr><td class="paramname">pl</td><td></td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a8f3f9f5697687756152cfc8045170646">&#9670;&nbsp;</a></span>handleRequest()</h2>
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<td class="memname">void handleRequest </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em></td><td>)</td>
<td></td>
</tr>
</table>
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<p>executes commands according to incoming request </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">d</td><td>data package </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a2f281c7608e509d555fc0a09cfeff82a">&#9670;&nbsp;</a></span>parseComponent()</h2>
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<td class="memname"><a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a> parseComponent </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em></td><td>)</td>
<td></td>
</tr>
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<p>extract component information </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>data package </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>U_Component </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a5bfcc9a4d05eaa07aff6dbc5ffbc01a4">&#9670;&nbsp;</a></span>parseFrameType()</h2>
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<td class="memname"><a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a> parseFrameType </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>extracts frametype from data package </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>data package </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>U_FrameType </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a67a111cec96745786304360702d7fb0d">&#9670;&nbsp;</a></span>parseRequest()</h2>
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<td class="memname"><a class="el" href="constants_8h.html#a83703b84abb8c92901ec1c15e0bbad80">U_Request</a> parseRequest </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em></td><td>)</td>
<td></td>
</tr>
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<p>extracts request information from data package </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>data package </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>U_Request </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ac85d37d78756559b8b923544852dd430">&#9670;&nbsp;</a></span>parseTimestamp()</h2>
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<td class="memname">uint32_t parseTimestamp </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>extracts timestamp from data package </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>data package </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>uint32_t </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ac77fffc0c7f612ccf0db14af856e3277">&#9670;&nbsp;</a></span>showPackage()</h2>
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<td class="memname">void showPackage </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>d</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>pl</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>debugging function, prints out package data </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>data package </td></tr>
<tr><td class="paramname">pl</td><td>payload length </td></tr>
</table>
</dd>
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<h2 class="groupheader">Variable Documentation</h2>
<a id="aa786999c8aa65490b5b03fb09a9f1f98"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa786999c8aa65490b5b03fb09a9f1f98">&#9670;&nbsp;</a></span>currentParseIndex</h2>
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<td class="memname">uint8_t currentParseIndex</td>
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<h2 class="memtitle"><span class="permalink"><a href="#aae4c1b8c8e6cca37d95276b38497b370">&#9670;&nbsp;</a></span>currentTimestamp</h2>
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<td class="memname">uint32_t currentTimestamp = 0</td>
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