C++ (Cpp) ausbee_cs_set_reference Examples

Example #1

File: control_system.c Project: shazame/ausbeedone

static void control_system_set_motors_ref(struct control_system *UNUSED(am), float d_mm, float theta)
# endif
{
  uint32_t axle_track_mm = position_get_axle_track_mm();

  int32_t right_motor_ref = position_mm_to_ticks(d_mm + (1.0 * axle_track_mm * theta) / 2);
  int32_t left_motor_ref  = position_mm_to_ticks(d_mm - (1.0 * axle_track_mm * theta) / 2);

# ifdef USE_MOTOR_SPEED_CS
  ausbee_cs_set_reference(&(am->csm_right_motor), right_motor_ref);
  ausbee_cs_set_reference(&(am->csm_left_motor), left_motor_ref);
# else
  motors_wrapper_right_motor_set_duty_cycle(NULL, right_motor_ref);
  motors_wrapper_left_motor_set_duty_cycle(NULL, left_motor_ref);
# endif
}

Example #2

File: control_system.c Project: darwikey/Eirbot2015

void control_system_set_left_motor_ref(int32_t ref)
{
  ausbee_cs_set_reference(&(am.csm_left_motor), ref);
}

Example #3

File: control_system.c Project: darwikey/Eirbot2015

void control_system_set_angle_rad_ref(float ref_rad)
{
  ausbee_cs_set_reference(&(am.csm_angle), ref_rad);
}

Example #4

File: control_system.c Project: darwikey/Eirbot2015

void control_system_set_angle_deg_ref(float ref_deg)
{
  float ref_rad = DEG2RAD(ref_deg);
  ausbee_cs_set_reference(&(am.csm_angle), ref_rad);
}

Example #5

File: control_system.c Project: darwikey/Eirbot2015

// User functions
void control_system_set_distance_mm_ref(float ref)
{
  ausbee_cs_set_reference(&(am.csm_distance), ref);
}

Example #6

File: control_system.c Project: shazame/ausbeedone

void control_system_set_left_motor_ref(struct control_system *am, int32_t ref)
{
  ausbee_cs_set_reference(&(am->csm_left_motor), ref);
}

Example #7

File: control_system.c Project: shazame/ausbeedone

// User functions
void control_system_set_distance_mm_ref(struct control_system *am, float ref)
{
  ausbee_cs_set_reference(&(am->csm_distance), ref);
}