void iKart_MotorControl::execute_openloop(double appl_linear_speed, double appl_desired_direction, double appl_angular_speed)
{
decouple(appl_linear_speed, appl_desired_direction,appl_angular_speed);
//Use a low pass filter to obtain smooth control
//Use a low pass filter to obtain smooth control
for (size_t i=0; i < F.size(); i++)
{
apply_motor_filter(i);
}
//Apply the commands
ipwm->setRefDutyCycle(0, -F[0]);
ipwm->setRefDutyCycle(1, -F[1]);
ipwm->setRefDutyCycle(2, -F[2]);
}
void iKart_MotorControl::execute_speed(double appl_linear_speed, double appl_desired_direction, double appl_angular_speed)
{
MotorControl::execute_speed(appl_linear_speed, appl_desired_direction, appl_angular_speed);
double appl_angular_speed_to_wheels = appl_angular_speed * this->get_vang_coeff();
double appl_linear_speed_to_wheels = appl_linear_speed * this->get_vlin_coeff();
decouple(appl_linear_speed_to_wheels, appl_desired_direction, appl_angular_speed_to_wheels);
//Use a low pass filter to obtain smooth control
for (size_t i=0; i < F.size(); i++)
{
apply_motor_filter(i);
}
//Apply the commands
ivel->velocityMove(0, F[0]);
ivel->velocityMove(1, F[1]);
ivel->velocityMove(2, F[2]);
}
void MSTableColumn::decoupleWidget(void)
{ decouple(); }
