Description

Definition for a Curiosity driver system.

The rover is controlled through angular velocities at all 6 wheels and steering angles at the front and rear wheels. This base class controls directly the wheel angular speeds and steering angles. Derived classes can use different mechanisms for setting these controls.

#include <Curiosity.h>

Inheritance diagram for chrono::curiosity::CuriosityDriver:

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Collaboration diagram for chrono::curiosity::CuriosityDriver:

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

Public Member Functions
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...

void	SetSteeringAngles (const std::array< double, 4 > &angles)
	Set all steering angles.

void	SetDriveSpeeds (const std::array< double, 6 > &speeds)
	Set all wheel angular speeds.

virtual DriveMotorType	GetDriveMotorType () const
	Indicate the control type for the drive motors (default: SPEED).

Protected Member Functions
virtual void	Update (double time)
	Update the driver system. More...

Protected Attributes
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)

Friends
class	Curiosity

Member Enumeration Documentation

◆ DriveMotorType

enum chrono::curiosity::CuriosityDriver::DriveMotorType

strong

Type of drive motor control.

Enumerator
SPEED	angular speed
TORQUE	torque

Member Function Documentation

◆ SetSteering() [1/2]

void chrono::curiosity::CuriosityDriver::SetSteering ( double angle )

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

This function sets the same steering angle for all steerable wheels.

◆ SetSteering() [2/2]

void chrono::curiosity::CuriosityDriver::SetSteering	(	double	angle,
		CuriosityWheelID	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::curiosity::CuriosityDriver::Update ( double time )

inlineprotectedvirtual

Update the driver system.

This function is called at each rover Update and can be used by derived classes to set new drive motor angular speeds and steering motor angles. 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/curiosity/Curiosity.h
/builds/uwsbel/chrono/src/chrono_models/robot/curiosity/Curiosity.cpp

Description

Public Types

Public Member Functions

Protected Member Functions