galaxis::servoSettings Namespace Reference

Enumerations
enum	Servo_t { SERVO_FRONT, SERVO_REAR }

Functions
float	servoSettingToAngle (int8_t servoSetting)
	Convert the servo setting to an actual steering angle. More...
int8_t	angleToServoSetting (float angle)

Variables
constexpr float	maximumAngle = 0.47305
constexpr int16_t	servoFrontMax = 450
constexpr int16_t	servoRearMax = 450
constexpr int16_t	servoFrontOffset = 13
constexpr int16_t	servoRearOffset = 0
constexpr float	slope = 0.0043f

Enumeration Type Documentation

Servo_t

enum galaxis::servoSettings::Servo_t

Enumerator
SERVO_FRONT
SERVO_REAR

Definition at line 10 of file servoSettings.hpp.

                 {
      SERVO_FRONT,
      SERVO_REAR,
    };

Function Documentation

angleToServoSetting()

int8_t galaxis::servoSettings::angleToServoSetting

(

float

angle

)

Definition at line 22 of file servoSettings.cpp.

                                            {
      int servoSetting = (int)(angle / slope);
      if(servoSetting < -100) {
        servoSetting = -100;
      } else if(servoSetting > 100) {
        servoSetting = 100;
      }
 
      return servoSetting;
    }

References slope.

Referenced by ControllerNode::loop().

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servoSettingToAngle()

float galaxis::servoSettings::servoSettingToAngle

(

int8_t

servoSetting

)

Convert the servo setting to an actual steering angle.

Parameters

servoSetting

servo setting value in [-100,100]

Returns

Steering angle in [rad]

Definition at line 9 of file servoSettings.cpp.

                                                   {
      /* TODO check for maximum angle */
      float angle = slope * servoSetting;
 
      if(angle > galaxis::servoSettings::maximumAngle) {
        angle = galaxis::servoSettings::maximumAngle;
      } else if(angle < -galaxis::servoSettings::maximumAngle) {
        angle = -galaxis::servoSettings::maximumAngle;
      }
 
      return angle;
    }

References maximumAngle, and slope.

Variable Documentation

maximumAngle

constexpr float galaxis::servoSettings::maximumAngle = 0.47305

constexpr

Definition at line 8 of file servoSettings.hpp.

Referenced by servoSettingToAngle().

servoFrontMax

constexpr int16_t galaxis::servoSettings::servoFrontMax = 450

constexpr

Definition at line 15 of file servoSettings.hpp.

servoFrontOffset

constexpr int16_t galaxis::servoSettings::servoFrontOffset = 13

constexpr

Definition at line 17 of file servoSettings.hpp.

servoRearMax

constexpr int16_t galaxis::servoSettings::servoRearMax = 450

constexpr

Definition at line 16 of file servoSettings.hpp.

servoRearOffset

constexpr int16_t galaxis::servoSettings::servoRearOffset = 0

constexpr

Definition at line 18 of file servoSettings.hpp.

slope

constexpr float galaxis::servoSettings::slope = 0.0043f

constexpr

Definition at line 8 of file servoSettings.cpp.

Referenced by angleToServoSetting(), and servoSettingToAngle().