Korebot.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------





#ifndef __KOREBOT_H_
#define __KOREBOT_H_

#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
#include <iostream>
#include <fstream>

#include <korebot/korebot.h>

#include <baselib.h>
#include "MotionModule.h"


namespace MipResources{
 /* @{ */


class KorebotPar : public DiffDrivePar{
 private:
  static const string  _korebotName;
  static const Decimal _maxWheelTurnRate = 3.78; /*Computed imposing 0.5 m/s */
  static const Decimal _leftDiam = 0.042;
  static const Decimal _rightDiam = 0.042;
  static const Decimal _axelTrack = 0.089;
  static const Decimal _encoderResol = 2764.8;
  
  string  _providedName(){return _korebotName;}
  Decimal _providedMaxWheelTurnRate(void){return _maxWheelTurnRate;}
  Decimal _providedLeftDiam(void){return _leftDiam;}
  Decimal _providedRightDiam(void){return _rightDiam;}
  Decimal _providedAxelTrack(void){return _axelTrack;}
  Decimal _providedEncoderResol(void){return _encoderResol;}
 public:
  KorebotPar(){
  }
  ~KorebotPar(){
  }
};

class KorebotVar : public DiffDriveVar{
 private:
  int _initMotor(knet_dev_t* hDev, bool right);
 public:
  knet_dev_t* dsPic;
  knet_dev_t* motor1;
  knet_dev_t* motor2;
  
  KorebotVar();
  
  virtual string getName(void){
   return "MotionKorebot";
  }
};


class Korebot : public DiffDrive{
 private:
  static const ResourcePlate _plate = MM_KOR_RES; 
  
 protected:
  /* PROMEMO from more abstract classes */
  /* UnicyclePar *_par; */
  /* UnicycleVar *_var; */
  /* DiffDrivePar *_ddPar; */
  /* DiffDriveVar *_ddVar; */
  KorebotPar *_korePar; 
  KorebotVar *_koreVar; 
 public:
  Korebot(int argc, const char* argv[]);
  
  ~Korebot();
  ResourcePlate getPlate() const {
   return _plate;
  }

  void setWheelCommands(Decimal leftAngVel, Decimal rightAngVel);
  
  DiffDriveEncoderReading getEncoders();
  
  void resetEncoders();
};



 /* @} */
 
};// end namespace MipResources{




#endif