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updated hunter max steering angle

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This commit is contained in:
Ruixiang Du
2020-06-15 18:51:59 +08:00
parent 97836c71ca
commit edc1d2ba0d
3 changed files with 10 additions and 10 deletions
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2
src/hunter_sdk/hunter_base/include/hunter_base/hunter_base.hpp
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@@ -47,7 +47,7 @@ public:
void SetCmdThreadPeriodMs(int32_t period_ms) { cmd_thread_period_ms_ = period_ms; };
// motion control
void SetMotionCommand(double linear_vel, double angular_vel,
void SetMotionCommand(double linear_vel, double steering_angle,
HunterMotionCmd::FaultClearFlag fault_clr_flag = HunterMotionCmd::FaultClearFlag::NO_FAULT);
// get robot state

4
src/hunter_sdk/hunter_base/include/hunter_base/hunter_types.hpp
View File

@@ -66,8 +66,8 @@ struct HunterMotionCmd
static constexpr double max_linear_velocity = 1.5; // 1.5 m/s
static constexpr double min_linear_velocity = -1.5; // -1.5 m/s
static constexpr double max_angular_velocity = 0.5235; // 0.5235 rad/s
static constexpr double min_angular_velocity = -0.5235; // -0.5235 rad/s
static constexpr double max_steering_angle = 0.4622; // 0.4622 rad ~= 26.5 degree
static constexpr double min_steering_angle = -0.4622; // -0.4622 rad
};
} // namespace wescore

14
src/hunter_sdk/hunter_base/src/hunter_base.cpp
View File

@@ -132,7 +132,7 @@ HunterState HunterBase::GetHunterState() {
}
void HunterBase::SetMotionCommand(
double linear_vel, double angular_vel,
double linear_vel, double steering_angle,
HunterMotionCmd::FaultClearFlag fault_clr_flag) {
// make sure cmd thread is started before attempting to send commands
if (!cmd_thread_started_) StartCmdThread();
@@ -141,16 +141,16 @@ void HunterBase::SetMotionCommand(
linear_vel = HunterMotionCmd::min_linear_velocity;
if (linear_vel > HunterMotionCmd::max_linear_velocity)
linear_vel = HunterMotionCmd::max_linear_velocity;
if (angular_vel < HunterMotionCmd::min_angular_velocity)
angular_vel = HunterMotionCmd::min_angular_velocity;
if (angular_vel > HunterMotionCmd::max_angular_velocity)
angular_vel = HunterMotionCmd::max_angular_velocity;
if (steering_angle < HunterMotionCmd::min_steering_angle)
steering_angle = HunterMotionCmd::min_steering_angle;
if (steering_angle > HunterMotionCmd::max_steering_angle)
steering_angle = HunterMotionCmd::max_steering_angle;
std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
current_motion_cmd_.linear_velocity = static_cast<int8_t>(
linear_vel / HunterMotionCmd::max_linear_velocity * 100.0);
current_motion_cmd_.angular_velocity = static_cast<int8_t>(
angular_vel / HunterMotionCmd::max_angular_velocity * 100.0);
steering_angle / HunterMotionCmd::max_steering_angle * 100.0);
current_motion_cmd_.fault_clear_flag = fault_clr_flag;
}
@@ -229,7 +229,7 @@ void HunterBase::UpdateHunterState(const HunterMessage &status_msg,
// std::cout << "motor 1 driver feedback received" << std::endl;
const MotorDriverStatusMessage &msg =
status_msg.body.motor_driver_status_msg;
for (int i = 0; i < 4; ++i) {
for (int i = 0; i < 3; ++i) {
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
.current =
(static_cast<uint16_t>(msg.data.status.current.low_byte) |