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Set of simple controllers for actuators. It includes a PID controller implementation, and a PIV controller implementation. PIV controllers allow to control motors in speed (velocity) while correcting for position drifts. It is useful to keep position synchronization between wheels while allowing local divergence in speed.
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rock-control/control-motor_controller
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NOTE
This directory structure follows some simple rules, to allow for generic build
processes and simplify reuse of this project.
For build automation the project structure should be parsed and validated
STRUCTURE
-- src/
Contains all header (*.h/*.hpp) and source files
-- build/
The target directory for the build process, temporary content
-- bindings/
Language bindings for this package, e.g. put into subfolders such as
|-- ruby/
Ruby language bindings
-- viz/
Source files for a vizkit plugin / widget related to this library
-- resources/
General resources such as images that are needed by the program
-- configuration/
Configuration files for running the program
-- external/
When including software that needs a non standard installation process, or one that can be
easily embedded include the external software directly here
-- doc/
should contain the existing doxygen file: doxygen.conf
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Set of simple controllers for actuators. It includes a PID controller implementation, and a PIV controller implementation. PIV controllers allow to control motors in speed (velocity) while correcting for position drifts. It is useful to keep position synchronization between wheels while allowing local divergence in speed.
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