libstp::drive::Drive Class Reference

#include <drive.hpp>

Public Member Functions
	Drive (std::unique_ptr< kinematics::IKinematics > kinematics, const ChassisVelocityControlConfig &vel_config, hal::imu::IIMU &imu)
void	setVelocity (const foundation::ChassisVelocity &v_body)
kinematics::MotorCommands	update (double dt)
foundation::ChassisVelocity	estimateState () const
std::size_t	wheelCount () const
void	softStop ()
void	hardStop ()
void	setVelocityControlConfig (const ChassisVelocityControlConfig &config)
const ChassisVelocityControlConfig &	getVelocityControlConfig () const
void	resetVelocityControllers ()
kinematics::IKinematics &	getKinematics ()
const kinematics::IKinematics &	getKinematics () const
double	getWheelRadius () const
std::vector< hal::motor::IMotor * >	getMotors ()
hal::imu::IIMU &	getImu ()
const hal::imu::IIMU &	getImu () const
void	applyPowerCommand (const foundation::ChassisVelocity &direction, int power_percent)

Detailed Description

Chassis-space drive controller.

Drive closes the loop on desired body velocity by combining feedback from a kinematics model and an IMU, then forwarding corrected commands to the drivetrain-specific IKinematics implementation.

Definition at line 35 of file drive.hpp.

Constructor & Destructor Documentation

Drive()

libstp::drive::Drive::Drive	(	std::unique_ptr< kinematics::IKinematics >	kinematics,
		const ChassisVelocityControlConfig &	vel_config,
		hal::imu::IIMU &	imu )

Parameters

kinematics	Owned drivetrain kinematics implementation.
vel_config	Initial per-axis velocity-controller gains.
imu	IMU used for yaw-rate feedback.

Member Function Documentation

applyPowerCommand()

void libstp::drive::Drive::applyPowerCommand ( const foundation::ChassisVelocity & direction, int power_percent )

inline

Convenience wrapper around IKinematics::applyPowerCommand().

Definition at line 88 of file drive.hpp.

estimateState()

foundation::ChassisVelocity libstp::drive::Drive::estimateState ( ) const

nodiscard

Estimate current body-frame velocity using kinematics plus the last IMU yaw rate.

getImu() [1/2]

hal::imu::IIMU & libstp::drive::Drive::getImu ( )

inlinenodiscard

Access the IMU passed in at construction. Used by tuners that need raw IMU telemetry (gyro, accel) for offline analysis.

Definition at line 84 of file drive.hpp.

getImu() [2/2]

const hal::imu::IIMU & libstp::drive::Drive::getImu ( ) const

inlinenodiscard

Definition at line 85 of file drive.hpp.

getKinematics() [1/2]

kinematics::IKinematics & libstp::drive::Drive::getKinematics ( )

inlinenodiscard

Access the owned kinematics implementation for advanced integration.

Definition at line 73 of file drive.hpp.

getKinematics() [2/2]

const kinematics::IKinematics & libstp::drive::Drive::getKinematics ( ) const

inlinenodiscard

Definition at line 74 of file drive.hpp.

getMotors()

std::vector< hal::motor::IMotor * > libstp::drive::Drive::getMotors ( )

inlinenodiscard

Convenience wrapper around IKinematics::getMotors().

Definition at line 80 of file drive.hpp.

getVelocityControlConfig()

const ChassisVelocityControlConfig & libstp::drive::Drive::getVelocityControlConfig ( ) const

inlinenodiscard

Definition at line 67 of file drive.hpp.

getWheelRadius()

double libstp::drive::Drive::getWheelRadius ( ) const

inlinenodiscard

Convenience wrapper around IKinematics::getWheelRadius().

Definition at line 77 of file drive.hpp.

hardStop()

void libstp::drive::Drive::hardStop

(

)

Immediately clear controller state and brake the drivetrain.

resetVelocityControllers()

void libstp::drive::Drive::resetVelocityControllers

(

)

Clear integrator and derivative history in all three velocity controllers.

setVelocity()

void libstp::drive::Drive::setVelocity

(

const foundation::ChassisVelocity &

v_body

)

Set the desired body-frame velocity for the next control update.

setVelocityControlConfig()

void libstp::drive::Drive::setVelocityControlConfig

(

const ChassisVelocityControlConfig &

config

)

Replace the per-axis velocity-control settings and rebuild the controllers.

softStop()

void libstp::drive::Drive::softStop

(

)

Request a controlled stop by zeroing the desired velocity.

update()

kinematics::MotorCommands libstp::drive::Drive::update

(

double

dt

)

Run one chassis velocity control step and send the corrected command to kinematics.

wheelCount()

std::size_t libstp::drive::Drive::wheelCount ( ) const

nodiscard

Forward the modeled wheel count from the underlying kinematics.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-drive/include/drive/drive.hpp