BoeBot Class Reference

BoeBot differential drive control system. Built using data from: https://www.parallax.com/product/900-00008 See final report for diagram of implementation More...

Inheritance diagram for BoeBot:

Collaboration diagram for BoeBot:

Public Attributes
float	maxWheelRpm = 50f
	The max wheel RPM (50RPM for parallax continuous rotation servo) More...
float	maxWheelTorque = 0.268f
	The max wheel torque (0.268NM for parallax continuous rotation servo). More...
float	Kp = 0.5f
	Control system gain parameter. More...

Private Member Functions
void	Awake ()
void	Update ()

Private Attributes
Robot	_robot
WheelCollider	_leftWheel
WheelCollider	_rightWheel
float	forwardAngle
float	frontBack
float	rightAngle
float	rightLeft
float	leftTarget
float	rightTarget
float	leftTorque
float	rightTorque

Detailed Description

BoeBot differential drive control system. Built using data from: https://www.parallax.com/product/900-00008 See final report for diagram of implementation

Definition at line 10 of file BoeBot.cs.

Member Function Documentation

void BoeBot.Awake ( )

private

Definition at line 48 of file BoeBot.cs.

                 {
        _robot = GetComponent<Robot>();
        _leftWheel = transform.Find("Left Wheel").GetComponent<WheelCollider>();
        _rightWheel = transform.Find("Right Wheel").GetComponent<WheelCollider>();
    }

void BoeBot.Update ( )

private

Definition at line 54 of file BoeBot.cs.

                  {

        if (!_robot.moveEnabled) {
            _leftWheel.motorTorque = 0f;
            _rightWheel.motorTorque = 0f;
            return; 
        }
        
        Vector3 target = _robot.navigationCommand;
        target.y = 0f;
        target.Normalize();
        Debug.DrawRay(transform.position, target, Color.green);
        
        if(target.magnitude < 0.1f) {
            rightTarget = 0f;
            leftTarget = 0f;
        } else {
            forwardAngle = Vector3.Angle(target, transform.forward);
            frontBack = Mathf.Cos(forwardAngle * Mathf.Deg2Rad);        //1:forward, -1:backward, 0:(left or right)
            
            rightAngle = Vector3.Angle(target, transform.right);
            rightLeft = Mathf.Cos(rightAngle * Mathf.Deg2Rad);      //1:right, -1:left, 0:(forward or back)
            
            rightTarget = Mathf.Clamp(frontBack+rightLeft, -1f, 1f);
            leftTarget = Mathf.Clamp(frontBack-rightLeft, -1f, 1f);
        }
        
        // drive wheel
        leftTorque = (leftTarget*maxWheelRpm - _leftWheel.rpm) * Kp;
        _leftWheel.motorTorque = Mathf.Clamp(leftTorque, -maxWheelTorque, maxWheelTorque);
        rightTorque = (rightTarget*maxWheelRpm - _rightWheel.rpm) * Kp;
        _rightWheel.motorTorque = Mathf.Clamp(rightTorque, -maxWheelTorque, maxWheelTorque);
        
        Debug.DrawRay(_leftWheel.transform.position, transform.forward * leftTarget * 0.1f, Color.magenta);
        Debug.DrawRay(_rightWheel.transform.position, transform.forward * rightTarget * 0.1f, Color.magenta);

    }

Member Data Documentation

WheelCollider BoeBot._leftWheel

private

Definition at line 34 of file BoeBot.cs.

WheelCollider BoeBot._rightWheel

private

Definition at line 35 of file BoeBot.cs.

Robot BoeBot._robot

private

Definition at line 33 of file BoeBot.cs.

float BoeBot.forwardAngle

private

Definition at line 37 of file BoeBot.cs.

float BoeBot.frontBack

private

Definition at line 38 of file BoeBot.cs.

float BoeBot.Kp = 0.5f

Control system gain parameter.

Definition at line 27 of file BoeBot.cs.

float BoeBot.leftTarget

private

Definition at line 42 of file BoeBot.cs.

float BoeBot.leftTorque

private

Definition at line 45 of file BoeBot.cs.

float BoeBot.maxWheelRpm = 50f

The max wheel RPM (50RPM for parallax continuous rotation servo)

Definition at line 17 of file BoeBot.cs.

float BoeBot.maxWheelTorque = 0.268f

The max wheel torque (0.268NM for parallax continuous rotation servo).

Definition at line 22 of file BoeBot.cs.

float BoeBot.rightAngle

private

Definition at line 39 of file BoeBot.cs.

float BoeBot.rightLeft

private

Definition at line 40 of file BoeBot.cs.

float BoeBot.rightTarget

private

Definition at line 43 of file BoeBot.cs.

float BoeBot.rightTorque

private

Definition at line 46 of file BoeBot.cs.

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

• Assets/botnavsim/Scripts/Robots/BoeBot.cs