ChassisApp< DriveTrain > Class Template Reference

Inheritance diagram for ChassisApp< DriveTrain >:

Public Member Functions
	ChassisApp (DriveTrain &drive_train_ref, IMessageCenter &message_center_ref, IDebug &debug_ref)
void	init ()
void	set_initial_state ()
void	loop ()
void	calc_movement_vectors ()
void	process_commands ()
void	chassis_get_gimbal_rel_angles ()
void	set_board_mode (BoardMode_t new_board_mode)
void	set_act_mode (BoardActMode_t new_act_mode)
Public Member Functions inherited from RTOSApp< ChassisApp< DriveTrain > >
void	calibrate ()
bool	exit_calibrate_cond ()
Public Member Functions inherited from ExtendedRTOSApp< ChassisApp< DriveTrain > >
void	run (const void *argument)

Static Public Attributes
static constexpr uint32_t	LOOP_PERIOD_MS = CHASSIS_TASK_EXEC_TIME
static constexpr float	MAX_TRANSLATION = 2
static constexpr float	MAX_ROTATION = PI
static constexpr float	GYRO_SPEED = PI

Member Function Documentation

calc_movement_vectors()

template<class DriveTrain>

void ChassisApp< DriveTrain >::calc_movement_vectors

(

)

Calculate inverse kinematics based on Chassis Act Mode. (INDPET_MODE) Chassis and gimbal are aligned and share the same reference frame. (GIMBAL_CENTER) Gimbal can move freely and chassis tries to orientate itself with gimbal's reference frame. (GYRO_MODE) Chassis continuously spins and moves along gimbal's reference frame.

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

• Core/Src/Applications/Chassis_App.h
• Core/Src/Applications/Chassis_App.cpp