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sim_youBot.m
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sim_youBot.m
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%% sim_youBot %%
%
% A class to represent the stock V-REP youBot.
%
% Properties:
%
% arm % A sim_arm object representing the youBot's
% arm. Name formatting is: ('youBot','%sArmJoint%d')
% gripper % A sim_entity object representing the youBot's
% gripper.
% gripper_target % A sim_entity object representing the youBot's
% gripper target. This sets the target position
% for the arm tip when kinematic_mode = 2.
% ref % A sim_entity object representing the youBot's
% central reference point.
% arm_ref % A sim_entity object representing the youBot's
% arm's reference point on the robot.
% wheels % An array of sim_joint objects that represt
% the youBot's four omniwheels. To work with
% sim_joint.setTargetVelocity, joint motors
% must be enabled and joint motor control
% disabled.
%
% Methods:
%
% move % Takes [x_dot, y_dot, theta_dot] and converts them into
% velocities for each individual wheel.
%
% set_wheel_vel % Takes a vector of velocities with length 4
% and sets each wheel in the following order
% [fl,rl,rr,fr].
%
% set_kinematicmode % Sets kinematic mode for all joints with both
% motors and motor control enabled. Valid modes
% are 0, 1, and 2.
%
classdef sim_youBot < sim_entity
properties
arm
gripper
gripper_target
ref
arm_ref
wheels
end
methods
function obj = sim_youBot(sim,ident)
obj = obj@sim_entity(sim,ident);
obj.arm = obj.sim.arm('youBot_ref','youBot','%sArmJoint%d');
obj.arm.enable_control;
obj.gripper = obj.sim.entity('youBot_gripperPositionTip');
obj.gripper_target = obj.sim.entity('youBot_gripperPositionTarget');
obj.ref = obj.sim.entity('youBot_center');
obj.arm_ref = obj.sim.entity('youBot_ref');
wjoints(1) = obj.sim.joint('rollingJoint_fl');
wjoints(2) = obj.sim.joint('rollingJoint_rl');
wjoints(3) = obj.sim.joint('rollingJoint_rr');
wjoints(4) = obj.sim.joint('rollingJoint_fr');
obj.wheels = wjoints;
for i=1:4
obj.wheels(i).enable_motor;
obj.wheels(i).disable_control;
end
end
function move(obj, x_dot, y_dot, theta_dot)
% sim_youBot.move
%
% When given velocities in the x and y directions and a rotational
% velocity, will set the wheel velocities as appropriate. Linear
% velocities must be in m/s and angular in rad/s.
%
% Arguments:
%
% x_dot % Velocity in x direction. M/s
% y_dot % Velocity in y direction. M/s
% theta_dot % Rotational velocity. Rad/s
%
%x_dot = x_dot * 20;
%y_dot = y_dot * 20;
%theta_dot = theta_dot * 10;
vel(1) = -x_dot-y_dot+theta_dot;
vel(2) = -x_dot+y_dot+theta_dot;
vel(3) = -x_dot-y_dot-theta_dot;
vel(4) = -x_dot+y_dot-theta_dot;
obj.setwheelvel(vel)
end
function setwheelvel(obj,vel)
% sim_youBot.setwheelvel
%
% Sets velocities of all 4 wheels. Order of input vector is:
% [front_left, rear_left, rear_right, front_right.]
%
% Arguemnts:
%
% vel % 4-vector of velocities. Rad/s.
%
obj.sim.pauseComms(true);
for l=1:4
obj.wheels(l).set_tgt_vel(vel(l));
end
obj.sim.pauseComms(false);
end
function setkinematicmode(obj,mode)
% sim_youBot.setkinematicsmode
%
% Sets the kinematic mode signal. Must be enabled to use V-REP's IK
% solver to move the arm.
%
% Arguments:
%
% mode % 2 for IK mode. 0 for disabled.
%
obj.sim.setIntegerSignal('km_mode', mode);
end
function open_gripper(obj)
% sim_youBot.open_gripper
%
% Opens the youBot's gripper.
%
obj.sim.setIntegerSignal('gripper_open',1)
end
function close_gripper(obj)
% sim_youBot.close_gripper
%
% Closes the youBot's gripper.
%
obj.sim.setIntegerSignal('gripper_open',0)
end
function ang = get_wheel_ang(obj)
% sim_youBot.get_wheel_ang
%
% Retrieves the current wheel angles of all four wheels. Returns 4
% vector with order [front_left, rear_left, rear_right, front_right.]
%
% Returns:
%
% ang % Current wheel angles in radians. Will be value
% from 0 to 2pi.
%
for i=1:4
a(i) = obj.wheels(i).get_angle;
end
ang = a;
end
end
end