Revision f0a9ebb3
Updated the motors class and set_motors message.
Still todo: update the query_motors service, make the util file exported as a library.
| scout/motors/src/motors_util.cpp | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file motors_util.cpp |
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* @brief Contains helpful functions this node, or others, can use to control |
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* the motors. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Ben Wasserman |
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* @author Alex Zirbel |
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**/ |
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#include "motors.h" |
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#include <cstdlib> |
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/** |
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* @defgroup motors |
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* @{
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**/ |
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/** |
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* @brief Converts set speeds (of various units) to absolute speeds. |
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* |
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* @param speed The speed expressed in the desired units |
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* @param units The units the desired speed is measured in |
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* @return The absolute speed of the motor |
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**/ |
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int motors_rel_to_abs(int rel_speed, int units) |
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{
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switch(units) |
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{
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case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
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return rel_speed; |
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case MOTOR_PERCENT:/* Convert from percentage */ |
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return rel_speed * MAXSPEED / 100; |
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case MOTOR_MMS:/* Convert from mm/s */ |
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/** @todo Make math to do this conversion **/ |
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return rel_speed; |
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case MOTOR_CMS:/* Convert from cm/s */ |
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/** @todo Make math to do this conversion **/ |
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return rel_speed; |
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default: /* The units aren't recognized */ |
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/** @todo Decide on default case. Either percent or absolute. **/ |
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return rel_speed; |
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} |
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} |
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/** |
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* @brief Convert absolute speeds to speeds of various units. |
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* |
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* @param speed The speed expressed in absolute units. |
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* @param units The units the desired speed is measured in. |
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* @return The relative speed of the motor in desired units. |
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**/ |
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int motors_abs_to_rel(int abs_speed, int units) |
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{
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switch(units) |
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{
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case MOTOR_ABSOLUTE:/* Speed given as absolute */ |
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return abs_speed; |
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case MOTOR_PERCENT:/* Convert from percentage */ |
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return abs_speed * 100 / MAXSPEED; |
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case MOTOR_MMS:/* Convert from mm/s */ |
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/** @todo Make math to do this conversion **/ |
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return abs_speed; |
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case MOTOR_CMS:/* Convert from cm/s */ |
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/** @todo Make math to do this conversion **/ |
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return abs_speed; |
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default: /* The units aren't recognized */ |
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/** @todo Decide on default case. Either percent or absolute. **/ |
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return abs_speed; |
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} |
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} |
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/** @} **/ |
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