Actuator Class Reference

#include <actuator.h>

Collaboration diagram for Actuator:

Public Member Functions
	Actuator (Actuator &&)=default
	Actuator (const Actuator &)=default
Actuator &	operator= (Actuator &&)=default
Actuator &	operator= (const Actuator &)=default
	~Actuator ()
int	init ()
	Function that initializes all the required components for the robot's actuator(omni-base) More...
Vec3< float >	actuate (Vec3< float > vel, Vec3< float > psis, uint32_t dt_millis, int8_t test=0)
	Function that actuate the robot's base(omni-base) More...
uint32_t	stop (uint32_t dt_millis, float ramp_factor=2.0, uint32_t max_time=1000)
void	clear ()
void	profile (Vec3< float > vel, uint32_t dt_millis)
void	check ()

Static Public Member Functions
static Actuator &	get_Instance ()

Private Member Functions
	Actuator ()
void	wheels_Init ()
	Function that initializes all the required components for the wheels of the robot. More...
void	pid_Init ()
	Function that initializes all the required components for the wheel's pid controller. More...
void	set_AnglePID (PID *pid)

Private Attributes
Wheel	wheels_ [4]
PID *	angle_pid_

Constructor & Destructor Documentation

Actuator() [1/3]

Actuator::Actuator ( Actuator &&  )

default

Actuator() [2/3]

Actuator::Actuator ( const Actuator &  )

default

~Actuator()

Actuator::~Actuator ( )

inline

Actuator() [3/3]

Actuator::Actuator ( )

inlineprivate

Member Function Documentation

actuate()

Vec3< float > Actuator::actuate	(	Vec3< float >	vel,
		Vec3< float >	psis,
		uint32_t	dt_millis,
		int8_t	test = 0
	)

Function that actuate the robot's base(omni-base)

Parameters

vel	: A vector that holds vx, vy and omega
psis	: A vector that holds psi_target, psi and psi_dot
dt_millis	: The time period at which this function is called periodically

Return values

A	vector that holds vx, vy and omega of the base in the last frame

Tasks performed by this function
1) Calculates omegas of each wheel to reach the given velocities using the
   Coupling Matrix
2) Measure omega of each wheels
3) Compute error
4) Compute PID using available PID_Algorithm
5) set Omega of each wheel
6) update new omegas of all wheels at once
7) Calculates vx, vy and rw of the base from the measured omegas of each
   wheel using the inverse Coupling Matrix

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check()

void Actuator::check

(

)

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clear()

void Actuator::clear

(

)

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get_Instance()

Actuator & Actuator::get_Instance ( )

static

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init()

int Actuator::init

(

)

Function that initializes all the required components for the robot's actuator(omni-base)

Return values

None

Tasks performed by this function
1) Call the devices initializations in correct order
2) Call the software initializations for utilities like pid for wheels

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operator=() [1/2]

Actuator& Actuator::operator= ( Actuator &&  )

default

operator=() [2/2]

Actuator& Actuator::operator= ( const Actuator &  )

default

pid_Init()

void Actuator::pid_Init ( )

private

Function that initializes all the required components for the wheel's pid controller.

Return values

None

Tasks performed by this function
1) Assigns gains for PID controller of each wheel
2) Assigns separate PID controllers for each wheel

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profile()

void Actuator::profile	(	Vec3< float >	vel,
		uint32_t	dt_millis
	)

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set_AnglePID()

void Actuator::set_AnglePID ( PID *  pid )

inlineprivate

stop()

uint32_t Actuator::stop	(	uint32_t	dt_millis,
		float	ramp_factor = 2.0,
		uint32_t	max_time = 1000
	)

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wheels_Init()

void Actuator::wheels_Init ( void  )

private

Function that initializes all the required components for the wheels of the robot.

Return values

None

Tasks performed by this function
1) Assigns appropriate IDs to each wheel
2) Give each wheel the respective radius
3) Assign a timer and a channel to each wheel for it's motor to run in PWM
   mode. A timer is shared among all the available wheels since we have
   four wheels.
4) Assigns the ppr of each wheel's encoder
5) Assigns the direction pins for each motor's direction
6) Assigns timer for each wheel's encoder
7) Starts the timers to run each wheel in respective configured modes like PWM
   mode and the Encoder mode

Need to make sure the following value is correct

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Member Data Documentation

angle_pid_

PID* Actuator::angle_pid_

private

wheels_

Wheel Actuator::wheels_[4]

private

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

• C:/Users/073be/OneDrive/Documents/Robotics/Codes/beta/Khangai-Robot/Khangai-Robot-Full/KhangaiRobot-Play/Core/Inc/parts/actuator.h
• C:/Users/073be/OneDrive/Documents/Robotics/Codes/beta/Khangai-Robot/Khangai-Robot-Full/KhangaiRobot-Play/Core/Src/parts/actuator.cpp