WheelControl Class Reference

Controller class to handle speed and steering of the buggy. More...

#include <wheelcontrol.h>

Collaboration diagram for WheelControl:

Public Member Functions
	WheelControl ()
	Constructor. More...
void	setSpeedController (float Kc, float tauI, float tauD)
	Set the speed controller tuning parameters. More...
void	setLineController (float Kc, float tauI, float tauD)
	Set the line controller tuning parameters. More...
void	setLineLimits (float low, float high)
	Set the line controller input limits. More...
void	setPWMLimits (float low, float high)
	Set the PWM controller output limits. More...
void	setTargetSpeed (float speed)
	Set the target speed in m/s. More...
void	reset ()
	Reset the PID controllers to initial state. More...
vector< pif >	computeSpeed (float position, const Encoder &left_encoder, const Encoder &right_encoder)
	Compute the speed in pps for the left and right motors. More...

Private Member Functions
void	m_setSetPoint (float left_val, float right_val)
	Set setpoint for left controller and right controller. More...
void	m_setProcessValue (float left_val, float right_val)
	Set process value for left controller and right controller. More...

Private Attributes
PID	m_leftcontroller
	PID controller for left speed. More...
PID	m_rightcontroller
	PID controller for right speed. More...
PID	m_linecontroller
	PID controller for line position. More...
float	m_target
	PID output for line controller. More...

Detailed Description

Controller class to handle speed and steering of the buggy.

Constructor & Destructor Documentation

WheelControl()

WheelControl::WheelControl

(

)

Constructor.

Construct a new Wheel Control object.

Initializes three PID controllers with default values.

Member Function Documentation

m_setSetPoint()

void WheelControl::m_setSetPoint ( float  left_val, float  right_val  )

private

Set setpoint for left controller and right controller.

m_setProcessValue()

void WheelControl::m_setProcessValue ( float  left_val, float  right_val  )

private

Set process value for left controller and right controller.

setSpeedController()

void WheelControl::setSpeedController	(	float	Kc,
		float	tauI,
		float	tauD
	)

Set the speed controller tuning parameters.

Parameters

Kc	Propotional gain.
tauI	Integral gain.
tauD	Derivative gain.

setLineController()

void WheelControl::setLineController	(	float	Kc,
		float	tauI,
		float	tauD
	)

Set the line controller tuning parameters.

Parameters

Kc	Propotional gain.
tauI	Integral gain.
tauD	Derivative gain.

setLineLimits()

void WheelControl::setLineLimits	(	float	low,
		float	high
	)

Set the line controller input limits.

Parameters

low	Minimum input value.
high	Maximum input value.

setPWMLimits()

void WheelControl::setPWMLimits	(	float	low,
		float	high
	)

Set the PWM controller output limits.

Parameters

low	Minimum output value.
high	Maximum output value.

setTargetSpeed()

void WheelControl::setTargetSpeed

(

float

speed

)

Set the target speed in m/s.

Parameters

speed

Target speed in m/s.

reset()

void WheelControl::reset

(

)

Reset the PID controllers to initial state.

computeSpeed()

vector< pif > WheelControl::computeSpeed	(	float	position,
		const Encoder &	left_encoder,
		const Encoder &	right_encoder
	)

Compute the speed in pps for the left and right motors.

Parameters

position	Position of the white line in milimetres.
left_encoder	Left encoder.
right_encoder	Right encoder.

Returns

vector<pif> Vector of pair of direction, PWM outputs for left and right motor.

Member Data Documentation

m_leftcontroller

PID WheelControl::m_leftcontroller

private

PID controller for left speed.

m_rightcontroller

PID WheelControl::m_rightcontroller

private

PID controller for right speed.

m_linecontroller

PID WheelControl::m_linecontroller

private

PID controller for line position.

m_target

float WheelControl::m_target

private

PID output for line controller.

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

• /github/workspace/include/wheelcontrol/wheelcontrol.h