Description

Concrete Curiosity driver class for a simple DC motor control.

This implements a simplistic DC motor control by directly applying torques to the rover's driveshafts. Control of the steering is left to the caller (through SetSteering).

#include <Curiosity.h>

Inheritance diagram for chrono::curiosity::CuriosityDCMotorControl:

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Collaboration diagram for chrono::curiosity::CuriosityDCMotorControl:

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Public Member Functions
void	SetMotorStallTorque (double torque, CuriosityWheelID id)
	Set motor stall torque for the specified wheel (default: 300).

void	SetMotorNoLoadSpeed (double speed, CuriosityWheelID id)
	Set DC motor no load speed (default: pi).

Public Member Functions inherited from chrono::curiosity::CuriosityDriver
void	SetSteering (double angle)
	Set current steering input (angle: negative for left turn, positive for right turn). More...

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

Additional Inherited Members
Public Types inherited from chrono::curiosity::CuriosityDriver
enum	DriveMotorType { DriveMotorType::SPEED, DriveMotorType::TORQUE }
	Type of drive motor control. More...

Protected Attributes inherited from chrono::curiosity::CuriosityDriver
Curiosity *	curiosity
	associated Curiosity rover

std::array< double, 6 >	drive_speeds
	angular speeds for drive motors (positive for forward motion)

std::array< double, 4 >	steer_angles
	angles for steer motors (negative for left turn, positive for right turn)

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

/builds/uwsbel/chrono/src/chrono_models/robot/curiosity/Curiosity.h
/builds/uwsbel/chrono/src/chrono_models/robot/curiosity/Curiosity.cpp

Description

Public Member Functions

Additional Inherited Members