RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h

#ifndef __GEBOT_DIFFERENTIAL_H__
#define __GEBOT_DIFFERENTIAL_H__

// 2轮差分模型
#include "model.h"
#include "math.h"

//定义Motor数目
#define MOTOR_COUNT 2

// 2轮差分模型接口实现
class Differential : public Model
{
public:
	Differential() {}
	Differential(float _wheel_radius, float _body_radius) : Model(_wheel_radius, _body_radius) {}
	
	// 运动解算 把给到机器人的速度分解为各个轮子速度
	virtual void motionSolver(float* robotSpeed, float* motorSpeed) {
		//	robot_speed[0] x	robot_speed[1] y	robot_speed[2] z
		motorSpeed[0] = (-robotSpeed[0] + robotSpeed[2] * bodyRadius) / wheelRadius;
		motorSpeed[1] = ( robotSpeed[0] + robotSpeed[2] * bodyRadius) / wheelRadius;
    }

	//反解算， 把各个轮子的速度转为机器人的速度 ，这里通过固定时间间隔转为里程
	virtual void get_odom(struct Odom* odom, float* motor_dis, unsigned long interval) {
		float dxy_ave = (-motor_dis[0] + motor_dis[1]) /  2.0;
		float dth     = ( motor_dis[0] + motor_dis[1]) / (2* bodyRadius);
		float vxy     = 1000 * dxy_ave / interval;
		float vth     = 1000 * dth     / interval;

		odom->vel_x = vxy;
		odom->vel_y = 0;
		odom->vel_z = vth;
		float dx = 0, dy = 0;
		if (motor_dis[0] != motor_dis[1]) {
			dx = cos(dth) * dxy_ave;
			dy = -sin(dth) * dxy_ave;
			odom->x += (cos(odom->z) * dx - sin(odom->z) * dy);
			odom->y += (sin(odom->z) * dx + cos(odom->z) * dy);;
		}

		if (motor_dis[0] + motor_dis[1] != 0)
			odom->z += dth;
	}
};

#endif