onepi.utils.control_utils.ControlUtils Class Reference

Public Member Functions
	__init__ (self, params=RobotParams(), min_speed_mmps=0)
	get_axis_length_mm (self)
	convert_range (self, x_value, x_min, x_max, y_min, y_max)
	compute_rev_from_pulses (self, pulses)
	compute_distance_from_rev (self, revolutions)
	compute_distance_from_pulses (self, pulses)
	compute_speed_from_distance (self, distance_mm, time_ms)
	compute_speed_from_pulses (self, num_pulses, time_ms)
	compute_distance_from_speed (self, speed_mmps, time_ms)
	compute_revolutions_from_distance (self, distance_mm)
	compute_arc_length (self, angle_rad, radius_of_curvature_mm)
	compute_pulses_from_rev (self, revolutions)
	compute_pulses_from_speed (self, speed_mmps, time_ms)
	compute_pulses_from_distance (self, distance)
	compute_pulses_from_angle_and_curvature (self, angle_rad, radius_of_curvature_mm=0)
	convert_to_mmps (self, desired_speed_percentage)
	convert_to_percentage (self, desired_speed_mmps)
	compute_pose_speeds (self, left_speed, right_speed)
	compute_wheel_speeds (self, linear_speed, angular_speed_rad)
	compute_speeds_rpm (self, WheelSpeeds wheel_speeds_mmps)

Static Protected Attributes
float	_axis_length_mm = 163.0
float	_wheel_diameter_mm = 65.0
int	_pulses_per_rev = 2240
int	_max_speed_mmps = 850
int	_min_speed_mmps = 0
int	_spot_rotation_delta = 0
float	_pi = 3.14159265

Detailed Description

collection of methods to compute speeds, distance, pulses

Constructor & Destructor Documentation

__init__()

onepi.utils.control_utils.ControlUtils.__init__	(		self,
			params = RobotParams(),
			min_speed_mmps = 0 )

constructor

Member Function Documentation

compute_arc_length()

onepi.utils.control_utils.ControlUtils.compute_arc_length	(		self,
			angle_rad,
			radius_of_curvature_mm )

Computes the arc length given the angle and radius of curvature

compute_distance_from_pulses()

onepi.utils.control_utils.ControlUtils.compute_distance_from_pulses	(		self,
			pulses )

computes distance given the number of pulses

compute_distance_from_rev()

onepi.utils.control_utils.ControlUtils.compute_distance_from_rev	(		self,
			revolutions )

computes distance given the number of revolutions

compute_distance_from_speed()

onepi.utils.control_utils.ControlUtils.compute_distance_from_speed	(		self,
			speed_mmps,
			time_ms )

computes the distance given the speed and time

compute_pose_speeds()

onepi.utils.control_utils.ControlUtils.compute_pose_speeds	(		self,
			left_speed,
			right_speed )

computes the pose speeds given left and right wheel speeds

compute_pulses_from_angle_and_curvature()

onepi.utils.control_utils.ControlUtils.compute_pulses_from_angle_and_curvature	(		self,
			angle_rad,
			radius_of_curvature_mm = 0 )

computes number of pulses given the angle and radius of curvature curvature

compute_pulses_from_distance()

onepi.utils.control_utils.ControlUtils.compute_pulses_from_distance	(		self,
			distance )

computes number of pulses given distance

compute_pulses_from_rev()

onepi.utils.control_utils.ControlUtils.compute_pulses_from_rev	(		self,
			revolutions )

computes the expected number of pulses given
the number of revolutions of the wheel

compute_pulses_from_speed()

onepi.utils.control_utils.ControlUtils.compute_pulses_from_speed	(		self,
			speed_mmps,
			time_ms )

computes number of pulses given speed and time

compute_rev_from_pulses()

onepi.utils.control_utils.ControlUtils.compute_rev_from_pulses	(		self,
			pulses )

computes the expected number of pulses given
the number of revolutions of the wheel

compute_revolutions_from_distance()

onepi.utils.control_utils.ControlUtils.compute_revolutions_from_distance	(		self,
			distance_mm )

computes the number of revolutions expected for the wheel
for a given distance

compute_speed_from_distance()

onepi.utils.control_utils.ControlUtils.compute_speed_from_distance	(		self,
			distance_mm,
			time_ms )

computes speed given the distance and time

compute_speed_from_pulses()

onepi.utils.control_utils.ControlUtils.compute_speed_from_pulses	(		self,
			num_pulses,
			time_ms )

computes speed given the number of pulses and time

compute_speeds_rpm()

onepi.utils.control_utils.ControlUtils.compute_speeds_rpm	(		self,
		WheelSpeeds	wheel_speeds_mmps )

computes the speeds in rpm given the speeds in mm/s

compute_wheel_speeds()

onepi.utils.control_utils.ControlUtils.compute_wheel_speeds	(		self,
			linear_speed,
			angular_speed_rad )

Computes the wheel speeds from linear and angular speeds

convert_range()

onepi.utils.control_utils.ControlUtils.convert_range	(		self,
			x_value,
			x_min,
			x_max,
			y_min,
			y_max )

Converts a value x given in the range [x_min : x_max]
to a new value in the range [y_min : y_max]

convert_to_mmps()

onepi.utils.control_utils.ControlUtils.convert_to_mmps	(		self,
			desired_speed_percentage )

convert speed percentage to real speed in mmps

convert_to_percentage()

onepi.utils.control_utils.ControlUtils.convert_to_percentage	(		self,
			desired_speed_mmps )

convert real speed to speed percentage

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The documentation for this class was generated from the following file:

• onepi/utils/control_utils.py