70 lines
2.2 KiB
Matlab
Executable File
70 lines
2.2 KiB
Matlab
Executable File
classdef MinesRover < WheeledRobot
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%MinesRover Class for MinesRover custom robot
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%
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% Copyright (C) 2014 Simon D. Levy
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%
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% This code is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as
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% published by the Free Software Foundation, either version 3 of the
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% License, or (at your option) any later version.
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%
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% This code is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU Lesser General Public License
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% along with this code. If not, see <http:#www.gnu.org/licenses/>.
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properties (Access = 'private')
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TICKS_PER_CYCLE = 2000;
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end
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methods (Access = 'private')
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function degrees = ticks_to_degrees(obj, ticks)
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degrees = ticks * (180. / obj.TICKS_PER_CYCLE);
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end
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end
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methods (Access = 'public')
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function robot = MinesRover()
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robot = robot@WheeledRobot(77, 165);
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end
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function disp(obj)
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% Displays information about this MinesRover
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fprintf('<%s ticks_per_cycle=%d>\n', obj.str(), obj.TICKS_PER_CYCLE)
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end
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function [poseChange, obj] = computePoseChange(obj, odometry)
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[poseChange, obj] = computePoseChange@WheeledRobot(obj, odometry(1), odometry(2), odometry(3));
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end
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function [timestampSeconds, leftWheelDegrees, rightWheelDegrees] = ...
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extractOdometry(obj, timestamp, leftWheel, rightWheel)
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% Convert microseconds to seconds
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timestampSeconds = timestamp / 1e6;
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% Convert ticks to angles
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leftWheelDegrees = obj.ticks_to_degrees(leftWheel);
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rightWheelDegrees = obj.ticks_to_degrees(rightWheel);
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end
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end
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end
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