__kinematics__.h File Reference

Header file for kimenatics.c. More...

#include <__swarm_wold__.h>

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Classes
struct	point
struct	pos
struct	pos_dot
struct	_i_pos
struct	mat2
struct	_omega
struct	_theta

Macros
#define	L   0.06
#define	r   0.02
#define	R_over_L   0.333
#define	R_over_2   0.01

Functions
struct _i_pos	_omega_to_intertial (struct _omega *input)
struct pos_dot	_inertial_to_pos_dot (struct _i_pos *inertial, struct pos *_pos)
uint16_t	_dead_reckon (struct pos *_pos, struct pos_dot *_pos_dot)
struct pos	_thetaLR_to_pos (struct _theta *th)
void	_update_thetaLR (struct _theta *input)
void	_update_omega (struct _omega *input)

Detailed Description

Header file for kimenatics.c.

• File: kimenatics.h
• Compiler: GCC-AVR
• Supported devices: Tested on 328p
• AppNote: Kinematics calculations for the mobile robot

Author

Swarm robot graduation project workgroub
Mechatronics Program for the Distinguished
$Name$

Revision

1

$RCSfile$

Date

5/29/2021 8:04:54 PM

Definition in file __kinematics__.h.

Function Documentation

_dead_reckon()

uint16_t _dead_reckon	(	struct pos *	_pos,
		struct pos_dot *	_pos_dot
	)

a dead-reckoner for spatial pos estimation, returns debug info

Parameters

[in]	_pos	pos
[in]	_pos_dot	derivative of pos

{
    static uint64_t t_prev = 0;
    uint16_t dt = _micros0() - t_prev;
    t_prev = _micros0();
    
    float vx = _pos_dot->x_dot;
    float vy = _pos_dot->y_dot;
    float w = _pos_dot->th_dot;
    
    struct pos out;
    out.x += vx * dt;
    out.y += vy * dt;
    out.th += w * dt;
 
    return dt;
}

References _micros0(), pos::th, pos_dot::th_dot, pos::x, pos_dot::x_dot, pos::y, and pos_dot::y_dot.

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_inertial_to_pos_dot()

struct pos_dot _inertial_to_pos_dot	(	struct _i_pos *	inertial,
		struct pos *	_pos
	)

A function to convert inertial velocities to pos_dot

Parameters

[in]	inertial	struct of inertial pos
[in]	_pos	struct of current pos for \theta

{
    float v = inertial->v;
    float w = inertial->w;
    float th = _pos->th;
    struct pos_dot out;
    
    out.x_dot = v * cos(th);
    out.y_dot = v * sin(th);
    out.th_dot = w;
    
    return out;
}

References _i_pos::v.

_omega_to_intertial()

struct _i_pos _omega_to_intertial

(

struct _omega *

input

)

A function to convert wheels rotation velocity to inertial velocities

Parameters

[in]	input	struct of wheels velocity
	_omega

{
    float wl = input->wl;
    float wr = input->wr;
    
    struct _i_pos out;
    out.v = (wl+wr)*R_over_2;
    out.w = (wr-wl)*R_over_L;
    return out;
}

_thetaLR_to_pos()

struct pos _thetaLR_to_pos

(

struct _theta *

th

)

A function to convert wheels' absolute rotation angles to pos (not proper)

Parameters

[in]

th

wheels' absolute rotation

{
    struct pos out;
    
    out.th = (th->right - th->left)*R_over_L;
    out.x = (th->right + th->left)*R_over_2*cos(out.th);
    out.y = (th->right + th->left)*R_over_2*sin(out.th);
    
    return out;
}

_update_omega()

void _update_omega

(

struct _omega *

input

)

A function to update the wheels' rotation velocity or each wheel from hardware modules

Parameters

[in]

input

wheel's rotational velocity

{
    input->wl = _omega_from_encA();
    input->wr = -1.0 * _omega_from_encB();
}

References _omega::wl, and _omega::wr.

_update_thetaLR()

void _update_thetaLR

(

struct _theta *

input

)

A function to update the absolute rotation angle of each wheel from hardware modules

Parameters

[in]

input

wheels' absolute rotation

{
    input->left = _thetaA();
    input->right = -1.0 * _thetaB();
}

References _theta::left, and _theta::right.