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Rover: rename custom to omni in AP_MotorsUGV

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This commit is contained in:
Randy Mackay 2019-01-24 11:51:10 +09:00
parent 57955421b5
commit bdf6c09a76
2 changed files with 40 additions and 40 deletions
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58
APMrover2/AP_MotorsUGV.cpp
View File

@ -116,9 +116,9 @@ void AP_MotorsUGV::init()
// set safety output
setup_safety_output();
// setup motors for custom configs
// setup for omni vehicles
if (rover.get_frame_type() != FRAME_TYPE_UNDEFINED) {
setup_motors();
setup_omni();
}
}
@ -163,7 +163,7 @@ void AP_MotorsUGV::setup_servo_output()
SRV_Channels::set_angle(SRV_Channel::k_throttleLeft, 1000);
SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 1000);
// custom config motors set in power percent so -100 ... 100
// omni motors set in power percent so -100 ... 100
for (uint8_t i=0; i<AP_MOTORS_NUM_MOTORS_MAX; i++) {
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
SRV_Channels::set_angle(function, 100);
@ -173,12 +173,12 @@ void AP_MotorsUGV::setup_servo_output()
SRV_Channels::set_range(SRV_Channel::k_mainsail_sheet, 100);
}
// config for frames with vectored motors and custom motor configurations
void AP_MotorsUGV::setup_motors()
// setup for frames with omni motors
void AP_MotorsUGV::setup_omni()
{
// remove existing motors
for (int8_t i=0; i<AP_MOTORS_NUM_MOTORS_MAX; i++) {
clear_motors(i);
clear_omni_motors(i);
}
// hard coded factor configuration
@ -190,31 +190,31 @@ void AP_MotorsUGV::setup_motors()
case FRAME_TYPE_OMNI3:
_motors_num = 3;
add_motor(0, 1.0f, 1.0f, -1.0f);
add_motor(1, 0.0f, 1.0f, 1.0f);
add_motor(2, 1.0f, 1.0f, 1.0f);
add_omni_motor(0, 1.0f, 1.0f, -1.0f);
add_omni_motor(1, 0.0f, 1.0f, 1.0f);
add_omni_motor(2, 1.0f, 1.0f, 1.0f);
break;
case FRAME_TYPE_OMNIX:
_motors_num = 4,
add_motor(0, 1.0f, -1.0f, -1.0f);
add_motor(1, 1.0f, -1.0f, 1.0f);
add_motor(2, 1.0f, 1.0f, -1.0f);
add_motor(3, 1.0f, 1.0f, 1.0f);
add_omni_motor(0, 1.0f, -1.0f, -1.0f);
add_omni_motor(1, 1.0f, -1.0f, 1.0f);
add_omni_motor(2, 1.0f, 1.0f, -1.0f);
add_omni_motor(3, 1.0f, 1.0f, 1.0f);
break;
case FRAME_TYPE_OMNIPLUS:
_motors_num = 4;
add_motor(0, 0.0f, 1.0f, 1.0f);
add_motor(1, 1.0f, 0.0f, 0.0f);
add_motor(2, 0.0f, -1.0f, 1.0f);
add_motor(3, 1.0f, 0.0f, 0.0f);
add_omni_motor(0, 0.0f, 1.0f, 1.0f);
add_omni_motor(1, 1.0f, 0.0f, 0.0f);
add_omni_motor(2, 0.0f, -1.0f, 1.0f);
add_omni_motor(3, 1.0f, 0.0f, 0.0f);
break;
}
}
// add motor using separate throttle, steering and lateral factors for frames with custom motor configurations
void AP_MotorsUGV::add_motor(int8_t motor_num, float throttle_factor, float steering_factor, float lateral_factor)
// add omni motor using separate throttle, steering and lateral factors
void AP_MotorsUGV::add_omni_motor(int8_t motor_num, float throttle_factor, float steering_factor, float lateral_factor)
{
// ensure valid motor number is provided
if (motor_num >= 0 && motor_num < AP_MOTORS_NUM_MOTORS_MAX) {
@ -224,12 +224,12 @@ void AP_MotorsUGV::add_motor(int8_t motor_num, float throttle_factor, float stee
_steering_factor[motor_num] = steering_factor;
_lateral_factor[motor_num] = lateral_factor;
add_motor_num(motor_num);
add_omni_motor_num(motor_num);
}
}
// add a motor and set up default output function
void AP_MotorsUGV::add_motor_num(int8_t motor_num)
// add an omni motor and set up default output function
void AP_MotorsUGV::add_omni_motor_num(int8_t motor_num)
{
// ensure a valid motor number is provided
if (motor_num >= 0 && motor_num < AP_MOTORS_NUM_MOTORS_MAX) {
@ -242,8 +242,8 @@ void AP_MotorsUGV::add_motor_num(int8_t motor_num)
}
}
// disable motor and remove all throttle, steering and lateral factor for this motor
void AP_MotorsUGV::clear_motors(int8_t motor_num)
// disable omni motor and remove all throttle, steering and lateral factor for this motor
void AP_MotorsUGV::clear_omni_motors(int8_t motor_num)
{
// ensure valid motor number is provided
if (motor_num >= 0 && motor_num < AP_MOTORS_NUM_MOTORS_MAX) {
@ -338,8 +338,8 @@ void AP_MotorsUGV::output(bool armed, float ground_speed, float dt)
// output for skid steering style frames
output_skid_steering(armed, _steering, _throttle, dt);
// output for frames with vectored and custom motor configurations
output_custom_config(armed, _steering, _throttle, _lateral);
// output for omni frames
output_omni(armed, _steering, _throttle, _lateral);
// output to mainsail
output_mainsail();
@ -501,7 +501,7 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
}
return false;
}
// check if one of custom config motors hasn't been configured
// check all omni motor outputs have been configured
for (uint8_t i=0; i<_motors_num; i++)
{
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
@ -672,8 +672,8 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
output_throttle(SRV_Channel::k_throttleRight, 100.0f * motor_right, dt);
}
// output for custom configurations
void AP_MotorsUGV::output_custom_config(bool armed, float steering, float throttle, float lateral)
// output for omni frames
void AP_MotorsUGV::output_omni(bool armed, float steering, float throttle, float lateral)
{
// exit immediately if the frame type is set to UNDEFINED
if (rover.get_frame_type() == FRAME_TYPE_UNDEFINED) {

22
APMrover2/AP_MotorsUGV.h
View File

@ -31,7 +31,7 @@ public:
MOTOR_TEST_LAST
};
// supported custom motor configurations
// supported omni motor configurations
enum frame_type {
FRAME_TYPE_UNDEFINED = 0,
FRAME_TYPE_OMNI3 = 1,
@ -51,17 +51,17 @@ public:
// setup servo output ranges
void setup_servo_output();
// config for frames with vectored motors
void setup_motors();
// setup for frames with omni motors
void setup_omni();
// add motor using separate throttle, steering and lateral factors for frames with custom motor configuration
void add_motor(int8_t motor_num, float throttle_factor, float steering_factor, float lateral_factor);
// add omni motor using separate throttle, steering and lateral factors
void add_omni_motor(int8_t motor_num, float throttle_factor, float steering_factor, float lateral_factor);
// add a motor and set up output function
void add_motor_num(int8_t motor_num);
void add_omni_motor_num(int8_t motor_num);
// disable motor and remove all throttle, steering and lateral factor for this motor
void clear_motors(int8_t motor_num);
// disable omni motor and remove all throttle, steering and lateral factor for this motor
void clear_omni_motors(int8_t motor_num);
// get or set steering as a value from -4500 to +4500
// apply_scaling should be set to false for manual modes where
@ -134,8 +134,8 @@ protected:
// output to skid steering channels
void output_skid_steering(bool armed, float steering, float throttle, float dt);
// output for vectored and custom motors configuration
void output_custom_config(bool armed, float steering, float throttle, float lateral);
// output for omni motors
void output_omni(bool armed, float steering, float throttle, float lateral);
// output throttle (-100 ~ +100) to a throttle channel. Sets relays if required
// dt is the main loop time interval and is required when rate control is required
@ -180,7 +180,7 @@ protected:
float _lateral; // requested lateral input as a value from -100 to +100
float _mainsail; // requested mainsail input as a value from 0 to 100
// custom config variables
// omni variables
float _throttle_factor[AP_MOTORS_NUM_MOTORS_MAX];
float _steering_factor[AP_MOTORS_NUM_MOTORS_MAX];
float _lateral_factor[AP_MOTORS_NUM_MOTORS_MAX];