Chassis_t Struct Reference

Public Attributes
float	vx
float	vy
float	wz
float	max_vx
float	max_vy
float	max_wz
float	v_parallel
float	v_perp
float	gimbal_yaw_rel_angle
PID2_t	spin_pid
uint16_t	chassis_gear
ChassisPowerStat_t	ref_power_stat
ChassisPowerStat_t	local_power_stat
BoardMode_t	chassis_mode
BoardActMode_t	chassis_act_mode
ChassisGearMode_t	chassis_gear_mode

Member Data Documentation

gimbal_yaw_rel_angle

float Chassis_t::gimbal_yaw_rel_angle

Gimbal yaw in radians [-pi, pi] received over CAN2 from gimbal board to chassis board. This is used calculating chassis inverse kinematics for moving relative to gimbal. Yaw angle is CCW positive and relative to front of the robot. e.g. 0 = front, -pi/2 = right, and pi/2 = left

v_parallel

float Chassis_t::v_parallel

Translation variables used for calculating Inverse Kinematics. These are velocity components pointing parallel and perpendicular to the movement vector created by the gimbal. These are directly manipulated through controller inputs and transformed into vx, and vy for chassis movement.

vx

float Chassis_t::vx

Inverse kinematic outputs. 2 velocities (m/s) and 1 angular velocity (rad/s). x-y-z axes follows right-hand rule with right-front-up (robot reference frame). Origin is ideally at robot's center of mass. i.e. positive x-axis = robot's right, and positive y-axis = robot's front.

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

• Core/Src/Applications/apps_types.h