177 motion control create new differentialdrive class #179
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motion_control/drive_controller/include/drive_controller/DriveControllerInterface.hpp
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motion_control/drive_controller/include/drive_controller/DifferentialDriveController.hpp
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motion_control/drive_controller/include/drive_controller/DifferentialDriveController.hpp
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motion_control/drive_controller/include/drive_controller/DifferentialDriveController.hpp
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..._control/drive_controller/include/drive_controller/DifferentialDriveControllerParameters.hpp
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The purpose of this class is to define a common interface used by platform engine in order to use any kind of drive controller (eg. DifferentialDrive or HolonomicDrive) This interface provides one method to set polar robot velocity. Signed-off-by: Mathis Lécrivain <[email protected]>
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COGIP robots are differential. So, implement the differential drive controller in order to convert robot polar speed into speed ratio for each motors. The speed ratio is defined using the motor electrical informations found in the datasheet. This ratio reflects the percentage of nominal motor voltage to apply in order to reach the velocity wanted. Signed-off-by: Mathis Lécrivain <[email protected]>
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The purpose of this interface is to define a common interface used by
platform engine in order to use any kind of drive controller (eg.
DifferentialDrive or HolonomicDrive)
The interface provides one method to set polar robot velocity.
COGIP robots are differential. So, implement the differential drive
controller in order to convert robot polar speed into speed ratio for
each motors.
The speed ratio is defined using the motor electrical information found
in the datasheet. This ratio reflect the percentage of nominal motor
voltage to apply in order to reach the velocity wanted.