chrono::curiosity::CuriosityDCMotorControl Class Reference

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:
Collaboration diagram for chrono::curiosity::CuriosityDCMotorControl:

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
Curiositycuriosity
 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