Description

Base class definition for a Viper driver.

A derived class must implement the Update function to set the various motor controls at the current time. Alternatively, a derived class may directly access the associate Viper rover and control it through different means (such as applying torques to the wheel driveshafts).

#include <Viper.h>

Inheritance diagram for chrono::viper::ViperDriver:

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Collaboration diagram for chrono::viper::ViperDriver:

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Public Types
enum	DriveMotorType { DriveMotorType::SPEED, DriveMotorType::TORQUE }
	Type of drive motor control. More...

Public Member Functions
virtual DriveMotorType	GetDriveMotorType () const =0
	Indicate the control type for the drive motors.

void	SetSteering (double angle)
	Set current steering input (angle: negative for left, positive for right).

void	SetSteering (double angle, ViperWheelID id)
	Set current steering input (angle: negative for left turn, positive for right turn). More...

void	SetLifting (double angle)
	Set current lift input angle. More...

Protected Member Functions
virtual void	Update (double time)=0
	Set the current rover driver inputs. More...

Protected Attributes
Viper *	viper
	associated Viper rover

std::array< double, 4 >	drive_speeds
	angular speeds for drive motors

std::array< double, 4 >	steer_angles
	angles for steer motors

std::array< double, 4 >	lift_angles
	angles for lift motors

Friends
class	Viper

Member Enumeration Documentation

◆ DriveMotorType

enum chrono::viper::ViperDriver::DriveMotorType

strong

Type of drive motor control.

Enumerator
SPEED	angular speed
TORQUE	torque

Member Function Documentation

◆ SetLifting()

void chrono::viper::ViperDriver::SetLifting ( double angle )

Set current lift input angle.

Set current lift input angles.

◆ SetSteering()

void chrono::viper::ViperDriver::SetSteering	(	double	angle,
		ViperWheelID	id
	)

Set current steering input (angle: negative for left turn, positive for right turn).

This function sets the steering angle for the specified wheel.

◆ Update()

virtual void chrono::viper::ViperDriver::Update ( double time )

protectedpure virtual

Set the current rover driver inputs.

This function is called by the associated Viper at each rover Update. A derived class must update the values for the angular speeds for the drive motors, as well as the angles for the steering motors and the lift motors at the specified time. A positive steering input corresponds to a left turn and a negative value to a right turn.

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

/builds/uwsbel/chrono/src/chrono_models/robot/viper/Viper.h
/builds/uwsbel/chrono/src/chrono_models/robot/viper/Viper.cpp

Description

Public Types

Public Member Functions

Protected Member Functions