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Merge pull request #96 from ad101-lab/ad-tank-simulator
Tank drive pure pursuit simulator
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| #pragma once | ||
|
|
||
| namespace Pronounce { | ||
| /** | ||
| * @brief Abstract class to be used in both the pure pursuit simulator and on the robot. | ||
| * | ||
| */ | ||
| class AbstractDrivetrain { | ||
| private: | ||
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| public: | ||
| AbstractDrivetrain(); | ||
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| ~AbstractDrivetrain(); | ||
| }; | ||
|
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| } // namespace Pronounce |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,44 @@ | ||
| #pragma once | ||
|
|
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| #include "abstractDrivetrain.hpp" | ||
| #include "utils/utils.hpp" | ||
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| namespace Pronounce { | ||
| class AbstractTankDrivetrain : public AbstractDrivetrain { | ||
| private: | ||
| double trackWidth; | ||
| public: | ||
| AbstractTankDrivetrain(); | ||
| AbstractTankDrivetrain(double trackWidth); | ||
|
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| double getTrackWidth() { | ||
| return trackWidth; | ||
| } | ||
|
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| void setTrackWidth(double trackWidth) { | ||
| this->trackWidth = trackWidth; | ||
| } | ||
|
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| void driveCurvature(double speed, double curvature) { | ||
| double leftSpeed = speed * (2.0 - curvature * trackWidth) / 2.0; | ||
| double rightSpeed = speed * (2.0 + curvature * trackWidth) / 2.0; | ||
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| double maxSpeed = max(abs(leftSpeed), abs(rightSpeed)); | ||
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| if (maxSpeed > abs(speed)) { | ||
| double multiplier = abs(speed) / maxSpeed; | ||
| leftSpeed *= multiplier; | ||
| rightSpeed *= multiplier; | ||
| } | ||
|
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| this->tankSteerVelocity(leftSpeed, rightSpeed); | ||
| } | ||
|
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| virtual void skidSteerVelocity(double speed, double turn) {} | ||
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| virtual void tankSteerVelocity(double leftSpeed, double rightSpeed) {} | ||
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| ~AbstractTankDrivetrain(); | ||
| }; | ||
| } // namespace Pronounce | ||
|
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