Description

Concrete Viper 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 <Viper.h>

Inheritance diagram for chrono::viper::ViperDCMotorControl:

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Collaboration diagram for chrono::viper::ViperDCMotorControl:

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

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

Public Member Functions inherited from chrono::viper::ViperDriver
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...

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

Protected Attributes inherited from chrono::viper::ViperDriver
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

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 Member Functions

Additional Inherited Members