onepi.utils.motion_generator.MotionGenerator Class Reference

Public Member Functions
	__init__ (self, BnrOneAPlus one, slip_factor=1.0, robot_params=RobotParams())
	move_straight_at_speed (self, distance, speed=50, slow_down_distance=0)
PoseSpeeds	rotate_angle_deg_at_speed (self, angle_deg, speed=50, radius_of_curvature_mm=0, slow_down_thresh_deg=0)

Static Public Attributes
int	STRAIGHT_MOTION = 32767
int	TICKS_LEFT_LOW_SPEED = 4000
int	MIN_SPEED_MMPS = 100

Protected Member Functions
	_reset_encoders (self)
	_compute_pose_speeds (self, speed, radius_of_curvature_mm, direction=1)
	_maybe_slow_down (self, pose_speeds, speed, pulses_remaining, slow_down_thresh, radius_of_curvature_mm, direction)
	_move_and_slow_down (self, total_pulses, speed=50, direction=1, radius_of_curvature_mm=0, slow_down_thresh=TICKS_LEFT_LOW_SPEED)
	_get_sign (self, value)
	_check_wheel_speed_limit (self, speed)
	_check_speed_limits (self, PoseSpeeds pose_speeds)
	_apply_slip (self, value)

Protected Attributes
	_slip_factor = slip_factor
	_axis_length_mm = robot_params.axis_length_mm
	_cut = ControlUtils(robot_params)
	_one = one

Detailed Description

Class that enables moving in curved or straight lines by specifying the
distance and or angle and speed of the desired motion

Member Function Documentation

_compute_pose_speeds()

onepi.utils.motion_generator.MotionGenerator._compute_pose_speeds ( self, speed, radius_of_curvature_mm, direction = 1 )

protected

calculates the angular speed given the linear speed,
the radius of curvature and the direction

_maybe_slow_down()

onepi.utils.motion_generator.MotionGenerator._maybe_slow_down ( self, pose_speeds, speed, pulses_remaining, slow_down_thresh, radius_of_curvature_mm, direction )

protected

Note: At the moment slowing down doesn't work for rotations only

_move_and_slow_down()

onepi.utils.motion_generator.MotionGenerator._move_and_slow_down ( self, total_pulses, speed = 50, direction = 1, radius_of_curvature_mm = 0, slow_down_thresh = TICKS_LEFT_LOW_SPEED )

protected

@brief Moves and slows down when pulses remaining are less than slow_down_thresh
If slow_down_thresh is set to zero (or negative number) it does not slow down.
By default it starts slowing down when a full rotation (TICKS_LEFT_LOW_SPEED) remains.
The slow down is a quadratic function of the form y = a * x^2

@param total_pulses number of pulses necessary from the encoders (average) to complete the manoeuvre
@param speed
@param direction of curve in case of a curved motion
@param radius_of_curvature_mm (positive for CW and negative values for CCW rotations)
@param slow_down_thresh number of ticks to when the robot should start reducing speed
@param straight boolean specifying if this is a straight line or not

_reset_encoders()

onepi.utils.motion_generator.MotionGenerator._reset_encoders ( self )

protected

Resets both encoders

move_straight_at_speed()

onepi.utils.motion_generator.MotionGenerator.move_straight_at_speed	(		self,
			distance,
			speed = 50,
			slow_down_distance = 0 )

moves the robot for the given distance at the given speed.
If slow down distance is provided then it slows down once the
remaining distance is less than the slow_down_distance

rotate_angle_deg_at_speed()

PoseSpeeds onepi.utils.motion_generator.MotionGenerator.rotate_angle_deg_at_speed	(		self,
			angle_deg,
			speed = 50,
			radius_of_curvature_mm = 0,
			slow_down_thresh_deg = 0 )

rotate the robot the specified angle at the given speed
and with the radius of curvature provided
if radius_of_curvature_mm is set to STRAIGHT_MOTION
then the robot moves in a straight line

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

• onepi/utils/motion_generator.py