minotaur::PIDController Klassenreferenz

The PID-Controller regulates the velocity of the robot. Mehr ...

#include <PIDController.hpp>

Öffentliche Methoden
	PIDController (nxt::Motor &p_leftMotor, nxt::Motor &p_rightMotor)
void	setVelocity (const float p_linearVelocity, const float p_angularVelocity)
void	setWheelRadius (const float p_meter)
void	setWheelTrack (const float p_meter)
void	setPIDParameter (const minotaur_common::PIDParameter &p_param)
void	setMouseSensorSettings (const MouseSensorSettings &p_mouseSettings)
float	getLinearVelocity () const
float	getAngularVelocity () const
float	getWheelRadius () const
float	getWheelTrack () const
const minotaur_common::PIDParameter &	getPIDParameter () const
void	step (const int p_samplingIntervalMSec)
	Sets new motor-powers after calculate them.

Ausführliche Beschreibung

The PID-Controller regulates the velocity of the robot.

The Controller gets measured values of the velocity, compares them with the desired values, and then calculates new velocities. The motor-publisher is used to set the "power" of the robot motors. The motor-client is used to read the current "tick count" of each motor. Publisher, Client and the wheel-circumference have to be set manually before using the "step()" method.

Dokumentation der Elementfunktionen

void minotaur::PIDController::step

(

const int

p_samplingIntervalMSec

)

Sets new motor-powers after calculate them.

Parameter

p_samplingIntervalMSec

duration of one samping-interval in Msec

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Die Dokumentation für diese Klasse wurde erzeugt aufgrund der Dateien:

• /home/fabian/develop/nxt_minotaur/src/robot_control/include/robot_control/PIDController.hpp
• /home/fabian/develop/nxt_minotaur/src/robot_control/src/robot_control/PIDController.cpp