guidance_rover_holonomic module

Holonomic guidance for rover

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="guidance_rover_holonomic"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• rover_holo_guidance_init()

Files

Header Files

The following headers are automatically included in modules.h

• rover_guidance_holonomic.h

Source Files

• /guidance/rover_guidance_holonomic.c

Raw guidance_rover_holonomic.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_rover_holonomic" dir="guidance" task="control">
  <doc>
    <description>
      Holonomic guidance for rover
    </description>
  </doc>
  <settings target="ap">
    <dl_settings>
      <dl_settings NAME="GuidanceHolo">
        <dl_setting var="rover_holo_guidance.speed_pid.p" min="0." step="0.1" max="10." shortname="s_kp" param="ROVER_HOLO_GUIDANCE_SPEED_PGAIN" type="float" persistent="true"/>
        <dl_setting var="rover_holo_guidance.speed_pid.d" min="0." step="0.1" max="10." shortname="s_kd" param="ROVER_HOLO_GUIDANCE_SPEED_DGAIN" type="float" persistent="true"/>
        <dl_setting var="rover_holo_guidance.speed_pid.i" min="0." step="0.01" max="1." shortname="s_ki" handler="set_speed_igain" param="ROVER_HOLO_GUIDANCE_SPEED_IGAIN" type="float" persistent="true" module="guidance/rover_guidance_holonomic"/>
        <dl_setting var="rover_holo_guidance.turn_pid.p" min="0." step="0.01" max="10." shortname="t_kp" param="ROVER_HOLO_GUIDANCE_TURN_PGAIN" type="float" persistent="true"/>
        <dl_setting var="rover_holo_guidance.turn_pid.d" min="0." step="0.01" max="10." shortname="t_kd" param="ROVER_HOLO_GUIDANCE_TURN_DGAIN" type="float" persistent="true"/>
        <dl_setting var="rover_holo_guidance.turn_pid.i" min="0." step="0.01" max="1." shortname="t_ki" handler="set_turn_igain" param="ROVER_HOLO_GUIDANCE_TURN_IGAIN" type="float" persistent="true" module="guidance/rover_guidance_holonomic"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@navigation</depends>
    <provides>guidance,commands</provides>
  </dep>
  <header>
    <file name="rover_guidance_holonomic.h"/>
  </header>
  <init fun="rover_holo_guidance_init()"/>
  <makefile target="ap" firmware="rover">
    <file name="rover_guidance_holonomic.c" dir="$(SRC_FIRMWARE)/guidance"/>
  </makefile>
</module>