Resurgence/control__interface_8h_source.html

#pragma once


#include "world_interface/data.h"


// This is a layer that provides further abstraction on top of

// the motor-level control provided by the world interface


namespace robot {


double setCmdVel(double dtheta, double dx);


double setTankCmdVel(double left, double right);


void setJointPower(types::jointid_t joint, double power);


void setJointPos(types::jointid_t joint, int32_t targetPos);


types::DataPoint<int32_t> getJointPos(types::jointid_t joint);


} // namespace robot

robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:136

robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27

robot::getJointPos
types::DataPoint< int32_t > getJointPos(robot::types::jointid_t joint)
Definition control_interface.cpp:134

robot::setTankCmdVel
double setTankCmdVel(double left, double right)
Request the robot to drive in tank style, where each side is controlled individually.
Definition control_interface.cpp:77

robot::setJointPos
void setJointPos(robot::types::jointid_t joint, int32_t targetPos)
Set the position of the specified joint.
Definition control_interface.cpp:124

robot::setCmdVel
double setCmdVel(double dtheta, double dx)
Request the robot to drive at the given velocities.
Definition control_interface.cpp:38

robot::setJointPower
void setJointPower(robot::types::jointid_t joint, double power)
Set the power of the specified joint.
Definition control_interface.cpp:112