Header file for odometry.c. More...

#include "__swarm_wold__.h"

Include dependency graph for __odometry__.h:

This graph shows which files directly or indirectly include this file:

Macros
#define	__ENC_TICK_THETA_FOR_OMEGA 190399
	Threshold value for encoder ticks used to calculate angular velocity. More...

#define	__ENC_TICK_THETA 0.1904
	Conversion factor from encoder ticks to radians. More...

#define	__PM_lower_bound 200
	Lower bound for potentiometer readings. More...

#define	__PM_upper_bound 800
	Upper bound for potentiometer readings. More...

#define	__PM_SAMPLE_COUNT 5
	Number of samples taken for potentiometer readings. More...

#define	__PM_SLOPE 1
	Slope for potentiometer readings, in radians per volt per overflow. More...

#define	FORWARD 1
	Constant used to indicate forward motion. More...

#define	BACKWARD -1
	Constant used to indicate backward motion. More...

Functions
float	_theta_A (void)
	Returns the absolute rotation angle of motor A. More...

float	_theta_B (void)
	Returns the absolute rotation angle of motor B. More...

float	_omega_from_enc_A (void)
	Returns the angular velocity of motor A based on encoder readings. More...

float	_omega_from_enc_B (void)
	Returns the angular velocity of motor B based on encoder readings. More...

float	_omega_from_PM_A (void)
	Returns the angular velocity of motor A based on potentiometer readings. More...

float	_omega_from_PM_B (void)
	Returns the angular velocity of motor B based on potentiometer readings. More...

float	_omega_comp_A (void)
	Returns the complementary filter for the angular velocity of motor A. More...

float	omega_comp_B (void)
	Returns the complementary filter for the angular velocity of motor B. More...

int32_t	_ticksA ()
	Returns the number of encoder ticks for motor A since boot. More...

int32_t	_ticksB ()
	Returns the number of encoder ticks for motor A since boot. More...

void	_insertion_sort (uint16_t arr[], int n)
	Indertio sort algorithm. Faster for small array sizes. More...

Detailed Description

Header file for odometry.c.

File: __odometry__h
Compiler: GCC-AVR
Supported devices: Tested on 328p
AppNote: Odometry calculations for the mobile robot

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

Revision: 1

$RCSfile$

Date: /19/2021 9:43:59 AM

Definition in file __odometry__.h.

Macro Definition Documentation

◆ __ENC_TICK_THETA

#define __ENC_TICK_THETA 0.1904

Conversion factor from encoder ticks to radians.

◆ __ENC_TICK_THETA_FOR_OMEGA

#define __ENC_TICK_THETA_FOR_OMEGA 190399

Threshold value for encoder ticks used to calculate angular velocity.

◆ __PM_lower_bound

#define __PM_lower_bound 200

Lower bound for potentiometer readings.

◆ __PM_SAMPLE_COUNT

#define __PM_SAMPLE_COUNT 5

Number of samples taken for potentiometer readings.

◆ __PM_SLOPE

#define __PM_SLOPE 1

Slope for potentiometer readings, in radians per volt per overflow.

◆ __PM_upper_bound

#define __PM_upper_bound 800

Upper bound for potentiometer readings.

◆ BACKWARD

#define BACKWARD -1

Constant used to indicate backward motion.

◆ FORWARD

#define FORWARD 1

Constant used to indicate forward motion.

Function Documentation

◆ _insertion_sort()

void _insertion_sort	(	uint16_t	arr[],
		int	n
	)

Indertio sort algorithm. Faster for small array sizes.

Parameters

[in]	arr	pointer to start of sorting
[in]	n	offset from
	arr[]

 {
     int i, key, j;
     for (i = 1; i < n; i++) {
         key = arr[i];
         j = i - 1;
  
         /* Move elements of arr[0..i-1], that are
           greater than key, to one position ahead
           of their current position */
         while (j >= 0 && arr[j] > key) {
             arr[j + 1] = arr[j];
             j = j - 1;
         }
         arr[j + 1] = key;
     }
 }

◆ _omega_comp_A()

float _omega_comp_A ( void )

Returns the complementary filter for the angular velocity of motor A.

Returns: The complementary filter for the angular velocity of motor A in radians per second.

This function uses both encoder and potentiometer readings to calculate a more accurate estimate of the angular velocity of motor A.

 {
     return _omega_from_PMA() * 0.3f + _omega_from_encA() * 0.7f;
 }

◆ _omega_from_enc_A()

float _omega_from_enc_A ( void )

Returns the angular velocity of motor A based on encoder readings.

Returns: The angular velocity of motor A in radians per second.

This function measures the time between consecutive encoder ticks to determine the angular velocity of motor A.

◆ _omega_from_enc_B()

float _omega_from_enc_B ( void )

Returns the angular velocity of motor B based on encoder readings.

Returns: The angular velocity of motor B in radians per second.

This function measures the time between consecutive encoder ticks to determine the angular velocity of motor B.

◆ _omega_from_PM_A()

float _omega_from_PM_A ( void )

Returns the angular velocity of motor A based on potentiometer readings.

Returns: The angular velocity of motor A in radians per second.

This function uses the potentiometer readings of motor A to determine its angular velocity.

◆ _omega_from_PM_B()

float _omega_from_PM_B ( void )

Returns the angular velocity of motor B based on potentiometer readings.

Returns: The angular velocity of motor B in radians per second.

This function uses the potentiometer readings of motor B to determine its angular velocity.

◆ _theta_A()

float _theta_A ( void )

Returns the absolute rotation angle of motor A.

Returns: The absolute rotation angle of motor A in radians.

◆ _theta_B()

float _theta_B ( void )

Returns the absolute rotation angle of motor B.

Returns: The absolute rotation angle of motor B in radians.

◆ _ticksA()

int32_t _ticksA ( )

Returns the number of encoder ticks for motor A since boot.

Returns: The number of encoder ticks for motor A since boot.

 {
     return _enca_count;
 }

◆ _ticksB()

int32_t _ticksB ( )