viamboatbase

README

viamboatbase

Documentation

Index

• Variables
• type Config
  • func (cfg *Config) ComputePower(linear, angular r3.Vector) ([]float64, error)
  • func (cfg *Config) ComputePowerOutput(powers []float64) motorWeights
  • func (cfg *Config) ComputePowerOutputAsMatrix(powers []float64) mat.Dense
  • func (cfg *Config) Validate(path string) ([]string, error)
• type MotorConfig

Variables

var Model = resource.ModelNamespace("erh").WithFamily("base").WithModel("boat")

Types

type Config

type Config struct {
	Motors         []MotorConfig
	LengthMM       float64 `json:"length_mm"`
	WidthMM        float64 `json:"width_mm"`
	MovementSensor string  `json:"movement_sensor"`
}

func (*Config) ComputePower

func (cfg *Config) ComputePower(linear, angular r3.Vector) ([]float64, error)

returns an array of power for each motors forwardPercent: -1 -> 1 percent of power in which you want to move laterally

note only x & y are relevant. y is forward back, x is lateral

angularPercent: -1 -> 1 percent of power you want applied to move angularly

note only z is relevant here

func (*Config) ComputePowerOutput

func (cfg *Config) ComputePowerOutput(powers []float64) motorWeights

func (*Config) ComputePowerOutputAsMatrix

func (cfg *Config) ComputePowerOutputAsMatrix(powers []float64) mat.Dense

func (*Config) Validate

func (cfg *Config) Validate(path string) ([]string, error)

type MotorConfig

type MotorConfig struct {
	Name         string
	XOffsetMM    float64 `json:"x_offset_mm"`
	YOffsetMM    float64 `json:"y_offset_mm"`
	AngleDegrees float64 `json:"angle_degs"` // 0 is thrusting forward, 90 is thrusting to starboard, or positive x
	Weight       float64
}