51 lines
1.9 KiB
C
51 lines
1.9 KiB
C
|
#ifndef PIBOT_OMNI3_H_
|
||
|
|
#define PIBOT_OMNI3_H_
|
||
|
|
|
||
|
|
#include "model.h"
|
||
|
|
#include "math.h"
|
||
|
|
|
||
|
|
#define MOTOR_COUNT 3 // 定义Motor数目
|
||
|
|
#define sqrt_of_3 1.732f // 定义3的平方根降低计算量
|
||
|
|
|
||
|
|
// 3轮全向模型接口实现
|
||
|
|
class Omni3 : public Model
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
Omni3() {}
|
||
|
|
Omni3(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
|
||
|
|
void motion_solver(float* robot_speed, float* motor_speed) {
|
||
|
|
// robot_speed[0] x robot_speed[1] y robot_speed[2] z
|
||
|
|
motor_speed[0] = (robot_speed[1] + robot_speed[2] * body_radius)/ wheel_radius;
|
||
|
|
motor_speed[1] = (-robot_speed[0]*sqrt_of_3*0.5 - robot_speed[1]*0.5 + robot_speed[2] * body_radius) / wheel_radius;
|
||
|
|
motor_speed[2] = (robot_speed[0]*sqrt_of_3*0.5 - robot_speed[1]*0.5 + robot_speed[2] * body_radius) / wheel_radius;
|
||
|
|
}
|
||
|
|
|
||
|
|
//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
|
||
|
|
void get_odom(struct Odom* odom, float* motor_dis, unsigned long interval) {
|
||
|
|
if (motor_dis[0]!=0 || motor_dis[1]!=0 || motor_dis[2]!=0){
|
||
|
|
//speed
|
||
|
|
float dvx = (-motor_dis[1]+motor_dis[2])*sqrt_of_3/3.0f;
|
||
|
|
float dvy = (motor_dis[0]*2-motor_dis[1]-motor_dis[2])/3.0f;
|
||
|
|
float dvth = (motor_dis[0]+motor_dis[1]+motor_dis[2])/ (3 * body_radius);
|
||
|
|
odom->vel_x = dvx / interval;
|
||
|
|
odom->vel_y = dvy / interval;
|
||
|
|
odom->vel_z = dvth / interval;
|
||
|
|
|
||
|
|
float th = odom->z;
|
||
|
|
|
||
|
|
//odometry
|
||
|
|
float dx = (-sin(th)*motor_dis[0]*2+(-sqrt_of_3*cos(th)+sin(th))*motor_dis[1]+(sqrt_of_3*cos(th)+sin(th))*motor_dis[2])/3.0f;
|
||
|
|
float dy = (cos(th)*motor_dis[0]*2+(-sqrt_of_3*sin(th)-cos(th))*motor_dis[1]+(sqrt_of_3*sin(th)-cos(th))*motor_dis[2])/3.0f;
|
||
|
|
float dth = (motor_dis[0]+motor_dis[1]+motor_dis[2])/ (3 * body_radius);
|
||
|
|
|
||
|
|
odom->x += dx;
|
||
|
|
odom->y += dy;
|
||
|
|
odom->z += dth;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|