class roverController

A controller for wheeled rovers.

Inheritance:

Public Fields

double accMax

linear acceleration to use while driving

double kHeading

controller gain for computing corrections to reduce heading error

double ka

linear acceleration gain.

double kv

gain for velocity error term

double kvt

gain for velocity (ie.

double kvi

integral gain for accumulated velocity error

int useMassProportionalGains

indicates whether gains should be multiplied by rover mass

double tc

a time constant used for computing acceleration during kinematic simulation

int commandMode

the current mode of the controller

double speed

the commanded driving speed; positive = forward, negative = back

double radius

turning radius, when in TURN mode; positive = left, negative = right

triple goal

goal location for SEEK_GOAL mode

Public Methods

virtual int computeVelocityCommand(void)

computes velocity commands for all wheels based on the current mode

wheelModule* getWheel(int i)

returns the i'th wheel

Public Members

enum driveMode

enumerated type for roverController drive modes.

Inherited from jointController:

Public Fields

d2kCtrlStatus status

ptrList controllers

char gainFile[200]

singleJointController** jointToCtrl

double currentTime

Public Methods

int readGains(FILE* fp)

int writeGains(FILE* fp)

singleJointController* ctrl(int i)

singleJointController* ctrl(joint* jt)

Inherited from controller:

Public Fields

vector accCmd

vector Tcmd

mechanism* mech

dynoTimer* timer

dofInfluence* inf

int alwaysUpdate

Public Methods

virtual double maxDt(void)

virtual int computeTorqueCommand(double currentTime, int &computedAcc)

virtual int computeAccelerationCommand(double currentTime)

virtual int madeProgress(double currentTime)

virtual int reset(void)

Public Members

inherited from d2kComponent

not currently used

Protected Fields

double _maxDt

Inherited from d2kComponent:

Public Fields

d2kSimulator* sim

configuration* cfg

const char* label

int active

Public Methods

virtual int minCfgs(void) const

virtual int maxCfgs(void) const

virtual const char* getCfgName(int i)

virtual int readParams(paramParser* parser)

virtual int setVariables(const ptrList* taskParamRecs)

virtual int simInit(d2kSimulator* Sim)

virtual int init(ptrList* Cfgs)

virtual int forceCfgResolution(void)

virtual int cleanup(void)

virtual int update(int &violated)

virtual const cfgLabelRecord* getLabelRec(int i) const

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

A controller for wheeled rovers. The roverController class implements a simple algorithm for skid-steered control of the drive actuators for wheeled rovers. Several different control modes are available: straight-line, open loop driving; drive-to-location, turn-in-place, and driving along arcs. The roverController uses the capabilities of the jointController, from which it is derived, to compute joint torque commands for joints connected to wheelModules; all other joint torque commands are zero. The gains for the singleJointControllers are set to ka, kv, ks, kvt, and kvi, respectively, multiplied by the radius of the wheel being controlled. This allows control gains for the roverController to be specified in terms of linear velocity and acceleration, regardless of wheel radius.

File variables

• double accMax required
• double ka required
• double kv required
• double kvt required
• double kvi = kv*0.1;
• enum commandMode { STOP, DRIVE, TURN, ROTATE, SEEK_GOAL } = STOP;
• double speed = 0;
• double radius = 0;
• double kHeading = 20;
• double goalX = 0;
• double goalY = 5;
• int useMassProportionalGains = 0;

Also see jointController class for other parameters.

enum driveMode

enumerated type for roverController drive modes.

• STOP - decelerate and then hold all wheels at current position.
• DRIVE - straight-line, open-loop driving at constant speed
• TURN - arc turn of specified radius
• ROTATE - turn in place
• SEEK_GOAL - drive to a specified location
  double accMax
  linear acceleration to use while driving

  double kHeading
  controller gain for computing corrections to reduce heading error

  double ka
  linear acceleration gain.

  double kv
  gain for velocity error term

  double kvt
  gain for velocity (ie. additional torque proportional to goal velocity)

  double kvi
  integral gain for accumulated velocity error

  int useMassProportionalGains
  indicates whether gains should be multiplied by rover mass

  double tc
  a time constant used for computing acceleration during kinematic simulation

  int commandMode
  the current mode of the controller

  double speed
  the commanded driving speed; positive = forward, negative = back

  double radius
  turning radius, when in TURN mode; positive = left, negative = right

  triple goal
  goal location for SEEK_GOAL mode

  virtual int computeVelocityCommand(void)
  computes velocity commands for all wheels based on the current mode

  wheelModule* getWheel(int i)
  returns the i'th wheel

This class has no child classes.

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