MipTasks::LineFollowing Class Reference
[Line Following]
LineFollowing task.
More...
#include <LineFollowing.h>
Inheritance diagram for MipTasks::LineFollowing:
Public Member Functions | |
| LineFollowing (ResourcePointers resources, int argc, const char *argv[]) | |
| Constructor. | |
| ~LineFollowing () | |
| Destructor. | |
| TaskPlate | getPlate () const |
| get task plate (mandatory), it must be defined for all implemented task | |
| Time | getMaxDuration () |
| get maxSamplPeriod, maximum allowed time period between two calls of a run */ | |
| Time | getMaxSamplPeriod () |
| get minSamplPeriod, minimum allowed time period between two calls of a run */ | |
| Time | getMinSamplPeriod () |
| get minSamplPeriod, minimum allowed time period between two calls of a run */ | |
| TaskOutputs | run () |
| Executes a step of the task. | |
Detailed Description
LineFollowing task.This task allows a mobile robot equipped with ground sensors to track a line on the ground. It is possible to employ two kinds of control (base and adaptive) by setting some particular parameters.
The modalities of control are chosen by the following options:
- lineFollowingLineSlope: sets the slope of the infrared calibration curve. Default value: 416000;
- lineFollowingColorValue: sets the value returned by the sensor when it is put on the line. Default value: 1300 (black value);
- lineFollowingControlType: select the type of control. If it is 1, base control is selected, if 0 adaptive control is selected. Default value: 0;
- lineFollowinGain: sets the value of control gain only if base control is selected. Default value: 200;
- lineFollowingCruiseSpeed: sets the value of maximum linear speed which the robot executes during the task. Default value: 0.1;
- lineFollowingMinCurvature: sets the curvature until the dependence of velocity from curvature is linear. Default value: 2;
- lineFollowingMaxCurvature: sets the maximum curvature that the robot is able to follow. Default value: 16;
- lineFollowingCruiseControlPower: sets the dependence of linear velocity from the line curvature. Default value: 4;
- lineFollowingMaxPolSpeed: sets the reference speed for the non lineare dependence of linear velocity from curvature. Default value: 0.06;
- lineFollowingTimeFilter: sets the time of FIR filter used to estimate curvature. Default value: 1;
- lineFollowingFileFlag: if it's 1 allows to save the control parameters on a file called lineFollLog.dat. Default value: 0;
- lineFollowingFileName: allows to rename lineFollLog.dat;
- lineFollowingMarkUpGain: sets a mark up of the control gain only if adaptive control is selected. Default value: 30;
- lineFollowingInitTime: sets the initial time which the robot uses to estimate line curvature. Default value: 6;
- lineFollowingInitSpeed: sets the linear velocity during init time. Default value: 0.02;
- lineFollowingMinSpeed: sets the minimum linear velocity that the robot can assume during the control. Default value: 0.01;
- lineFollowingIrToAxisDistance: sets the distance of the ground sensors from the axis of the robot. Default value: 0.05784;
- lineFollowingMaxEstimatedDistance: sets the maximum distance that the robot is able to estimate from the line. Default value: 0.006.
Constructor & Destructor Documentation
| MipTasks::LineFollowing::LineFollowing | ( | ResourcePointers | resources, | |
| int | argc, | |||
| const char * | argv[] | |||
| ) |
Constructor.
- Parameters:
-
resources Resource pointer. argc Argc. argv Argv.
| MipTasks::LineFollowing::~LineFollowing | ( | ) | [inline] |
Destructor.
Member Function Documentation
| TaskPlate MipTasks::LineFollowing::getPlate | ( | ) | const [inline, virtual] |
| Time MipTasks::LineFollowing::getMaxDuration | ( | ) | [inline, virtual] |
get maxSamplPeriod, maximum allowed time period between two calls of a run */
Implements MipTasks::Task.
| Time MipTasks::LineFollowing::getMaxSamplPeriod | ( | ) | [inline, virtual] |
get minSamplPeriod, minimum allowed time period between two calls of a run */
Implements MipTasks::Task.
| Time MipTasks::LineFollowing::getMinSamplPeriod | ( | ) | [inline, virtual] |
get minSamplPeriod, minimum allowed time period between two calls of a run */
Implements MipTasks::Task.
| TaskOutputs MipTasks::LineFollowing::run | ( | void | ) | [virtual] |
The documentation for this class was generated from the following files:
- tasks/LineFollowing/LineFollowing.h
- tasks/LineFollowing/LineFollowing.cpp
