actuator.cpp File Reference

#include <math.h>
#include "actuator.h"
#include "pid_algorithms.h"
#include "pid.h"
#include "mat.h"
#include "logger.h"

Include dependency graph for actuator.cpp:

Macros
#define	WHEEL_RADIUS   (0.0675)

Variables
const float	gCoupling_Array [4][3]
const float	gInverse_Coupling_Array [3][4]

Macro Definition Documentation

WHEEL_RADIUS

#define WHEEL_RADIUS   (0.0675)

Variable Documentation

gCoupling_Array

const float gCoupling_Array[4][3]

Initial value:

= {{ 1,  1, 1 },
                                     { 1, -1, 1 },
                                     {-1, -1, 1 },
                                     {-1,  1, 1 }}

gInverse_Coupling_Array

const float gInverse_Coupling_Array[3][4]

Initial value:

= {{ 0.25,  0.25, -0.25, -0.25 },
                                             { 0.25, -0.25, -0.25,  0.25 },
                                             { 0.25,  0.25,  0.25,  0.25 }}