steering_task.SteeringTask Class Reference

Public Member Functions
	__init__ (self, ir_array, battery, control_mode, mtr_enable, left_sp_sh, right_sp_sh, k_line, lf_target, bias, abs_x_sh, abs_y_sh, abs_theta_sh, nav_target_x_sh, nav_target_y_sh, nav_speed_sh, heading, k_heading, heading_setpoint)
	run (self)

Public Attributes
	ir = ir_array
	battery = battery
	left_sp_sh = left_sp_sh
	right_sp_sh = right_sp_sh
	control_mode = control_mode
	mtr_enable = mtr_enable
	k_line_sh = k_line
	lf_target_sh = lf_target
	k_heading = k_heading
	heading = heading
	heading_setpoint = heading_setpoint
	bias = bias
	abs_x_sh = abs_x_sh
	abs_y_sh = abs_y_sh
	abs_theta_sh = abs_theta_sh
	nav_target_x_sh = nav_target_x_sh
	nav_target_y_sh = nav_target_y_sh
	nav_speed_sh = nav_speed_sh
float	search_speed = 0.5
float	reacquire_thresh = 0.05
int	state = self.S0_INIT
	last_time = millis()
int	first = 1

Static Public Attributes
int	S0_INIT = 0
int	S1_WAIT_ENABLE = 1
int	S2_FOLLOW = 2
int	S3_LOST = 3
int	S4_HEADING = 4

Protected Member Functions
	_compute_clamp_bound (self)
	_publish (self, v_left, v_right)

Detailed Description

Outer-loop controller for closed-loop line following.

Attributes:
    ir: IR sensor array object for line detection.
    battery: Battery monitor object.
    control_mode: Share for control mode (0: effort, 1: velocity, 2: line-following, 3: waypoint navigation).
    mtr_enable: Share for motor enable flag.
    left_sp_sh: Share for left motor velocity setpoint.
    right_sp_sh: Share for right motor velocity setpoint.
    k_line_sh: Share for line-following gain.
    lf_target_sh: Share for line-following target speed.
    bias: Share for centroid bias to influence line following.
    abs_x_sh: Share for absolute x position.
    abs_y_sh: Share for absolute y position.
    abs_theta_sh: Share for absolute heading.
    nav_target_x_sh: Share for navigation target x position.
    nav_target_y_sh: Share for navigation target y position.
    nav_speed_sh: Share for navigation target speed.
    heading: Share for current heading.
    k_heading: Gain for heading control.
    heading_setpoint: Share for desired heading.

Constructor & Destructor Documentation

__init__()

steering_task.SteeringTask.__init__	(		self,
			ir_array,
			battery,
			control_mode,
			mtr_enable,
			left_sp_sh,
			right_sp_sh,
			k_line,
			lf_target,
			bias,
			abs_x_sh,
			abs_y_sh,
			abs_theta_sh,
			nav_target_x_sh,
			nav_target_y_sh,
			nav_speed_sh,
			heading,
			k_heading,
			heading_setpoint )

Member Function Documentation

_compute_clamp_bound()

steering_task.SteeringTask._compute_clamp_bound ( self )

protected

HELPER FUNCTIONS

Compute the maximum speed clamp.

_publish()

steering_task.SteeringTask._publish ( self, v_left, v_right )

protected

run()

steering_task.SteeringTask.run

(

self

)

FINITE STATE MACHINE

Member Data Documentation

abs_theta_sh

steering_task.SteeringTask.abs_theta_sh = abs_theta_sh

abs_x_sh

steering_task.SteeringTask.abs_x_sh = abs_x_sh

abs_y_sh

steering_task.SteeringTask.abs_y_sh = abs_y_sh

battery

steering_task.SteeringTask.battery = battery

bias

steering_task.SteeringTask.bias = bias

control_mode

steering_task.SteeringTask.control_mode = control_mode

first

int steering_task.SteeringTask.first = 1

heading

steering_task.SteeringTask.heading = heading

heading_setpoint

steering_task.SteeringTask.heading_setpoint = heading_setpoint

ir

steering_task.SteeringTask.ir = ir_array

k_heading

steering_task.SteeringTask.k_heading = k_heading

k_line_sh

steering_task.SteeringTask.k_line_sh = k_line

last_time

steering_task.SteeringTask.last_time = millis()

left_sp_sh

steering_task.SteeringTask.left_sp_sh = left_sp_sh

lf_target_sh

steering_task.SteeringTask.lf_target_sh = lf_target

mtr_enable

steering_task.SteeringTask.mtr_enable = mtr_enable

nav_speed_sh

steering_task.SteeringTask.nav_speed_sh = nav_speed_sh

nav_target_x_sh

steering_task.SteeringTask.nav_target_x_sh = nav_target_x_sh

nav_target_y_sh

steering_task.SteeringTask.nav_target_y_sh = nav_target_y_sh

reacquire_thresh

float steering_task.SteeringTask.reacquire_thresh = 0.05

right_sp_sh

steering_task.SteeringTask.right_sp_sh = right_sp_sh

S0_INIT

int steering_task.SteeringTask.S0_INIT = 0

static

S1_WAIT_ENABLE

int steering_task.SteeringTask.S1_WAIT_ENABLE = 1

static

S2_FOLLOW

int steering_task.SteeringTask.S2_FOLLOW = 2

static

S3_LOST

int steering_task.SteeringTask.S3_LOST = 3

static

S4_HEADING

int steering_task.SteeringTask.S4_HEADING = 4

static

search_speed

float steering_task.SteeringTask.search_speed = 0.5

state

int steering_task.SteeringTask.state = self.S0_INIT

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

• src/steering_task.py