odometry.h File Reference

Count wheel rotations and maintain robot position and angle. More...

#include <stdint.h>

Go to the source code of this file.

Macros
#define	N   360
	counts/rotation, just one edge of one tach
#define	D   70000
	wheel diameter 0.0001cm
#define	W   140000
	wheel base 0.0001 cm
#define	C   219910
	wheel circumference 0.0001cm
#define	PI   8192
	representation of pi radians
#define	TWOPI   (2*PI)
	6.28...
#define	NORTH   4096
	direction that is north
#define	EAST   0
	direction that is east
#define	SOUTH   -4096
	direction that is south
#define	WEST   -8192
	direction that is west
#define	XYTOLERANCE   10000
	tolerance in x,y goal seeking, 1 cm
#define	THETATOLERANCE   (4096/90)
	tolerance in angle goal seeking, 1 deg

Enumerations
enum	RobotState {   ISSTOPPED , GOFORWARD , HARDRIGHT , HARDLEFT ,   SOFTRIGHT , SOFTLEFT }
	robot state More...
enum	OdometryCommand {   STOP , FORWARDTOX , FORWARDTOY , LEFTTOTH ,   RIGHTTOTH }
	Odometry Commands. More...

Functions
void	Odometry_Init (int32_t initx, int32_t inity, int32_t initTheta)
	Initialize odometry module. More...
void	Odometry_Update (int32_t LCount, int32_t RCount)
	Compute new position/angle of the robot. More...
void	Odometry_SetPower (uint32_t fast, uint32_t slow)
	Set power levels. More...
int32_t	Odometry_GetX (void)
	Get X position. More...
int32_t	Odometry_GetY (void)
	Get y position. More...
int32_t	Odometry_GetAngle (void)
	Get theta angle. More...
void	Odometry_Get (int32_t *x, int32_t *y, int32_t *theta)
	Get the current robot position. More...
void	UpdatePosition (void)
	update position More...
void	Display (void)
	OLED output. More...
void	WaitUntilBumperTouched (void)
	Wait until bumper touched. More...
void	StopUntilBumperTouched (void)
	Stop and wait until bumper touched. More...
uint32_t	ForwardUntilCrash (void)
	Go until bumper touched. More...
uint32_t	ForwardUntilX (int32_t desiredX)
	Forward Until X goal. More...
uint32_t	ForwardUntilY (int32_t desiredY)
	Forward Until Y goal. More...
uint32_t	SoftLeftUntilTh (int32_t desiredTh)
	Soft Left Until Theta. More...
void	ForwardUntilXStart (int32_t thedesiredX)
	start going Forward Until X More...
uint32_t	ForwardUntilXStatus (void)
	check status of Forward Until X command More...
void	ForwardUntilYStart (int32_t thedesiredY)
	start going Forward Until Y More...
uint32_t	ForwardUntilYStatus (void)
	check status of Forward Until Y command More...
void	SoftLeftUntilThStart (int32_t thedesiredTh)
	start going Forward Until Y More...
uint32_t	ForwardUntilThStatus (void)
	check status of soft left until theta command More...
uint32_t	CheckGoal (void)
	check status of odometry command More...

Detailed Description

Count wheel rotations and maintain robot position and angle.

Inputs to the system are left and right tachometer counts. System is called periodically, e.g., every 20 to 40 ms. Private global variables from the system are position (x,y) and orientation theta.

Version

TI-RSLK MAX v1.1

Author

Daniel Valvano and Jonathan Valvano

Copyright

Copyright 2019 by Jonathan W. Valvano, valva.nosp@m.no@m.nosp@m.ail.u.nosp@m.texa.nosp@m.s.edu,

Warning

AS-IS

Note

For more information see http://users.ece.utexas.edu/~valvano/

Warning

This system will need calibration to your particular robot, adjust N D W C for your robot

Date

July 31, 2019

Although tested with the Pololu #3542 Romi Encoder connected to Pololu RSLK 1.1 interface board, the module should operate with any 2 wheel differential drive robot.