moved kinematics.h, added drive command

Author: gbr1

examples/kinematics/kinematics.ino

@@ -0,0 +1,12 @@
+#include "Arduino_Alvik_Firmware.h"
+
+Arduino_Alvik_Firmware alvik;
+
+void setup() {
+  alvik.begin();
+}
+
+void loop() {
+  alvik.drive(1,1);
+  
+}

src/Arduino_Alvik_Firmware.cpp

@@ -71,6 +71,10 @@ Arduino_Alvik_Firmware::Arduino_Alvik_Firmware(){
     version_high = VERSION_BYTE_HIGH;
     version_mid = VERSION_BYTE_MID;
     version_low = VERSION_BYTE_LOW;
+
+    // kinematics
+    kinematics = new Kinematics(WHEEL_TRACK_MM,WHEEL_DIAMETER_MM);
+
 }
 
 int Arduino_Alvik_Firmware::begin(){
@@ -599,4 +603,9 @@ void Arduino_Alvik_Firmware::errorLed(const int error_code){
         }
         delay(5000);
     }
-}
+}
+
+
+void Arduino_Alvik_Firmware::drive(const float linear, const float angular){
+    kinematics->forward(linear, angular);
+}

src/Arduino_Alvik_Firmware.h

@@ -32,6 +32,8 @@
 #include "AT42QT2120.h"
 #include "LSM6DSOSensor.h"
 #include "motion_fx.h"
+#include "./robotics/kinematics.h"
+
 
 
 class Arduino_Alvik_Firmware{
@@ -73,6 +75,8 @@ class Arduino_Alvik_Firmware{
         uint8_t version_mid;
         uint8_t version_low;
 
+        Kinematics * kinematics;
+
 
     public:        
 
@@ -196,6 +200,8 @@ class Arduino_Alvik_Firmware{
         void errorLed(const int error_code);                                          // error routine, locks on code blinking led
 
 
+        // Kinematics
+        void drive(const float linear, const float angular);
 
 
 

src/definitions/robot_definitions.h

@@ -57,4 +57,9 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 #define VERSION_BYTE_MID 0
 #define VERSION_BYTE_LOW 6
 
+
+
+#define WHEEL_TRACK_MM 89
+#define WHEEL_DIAMETER_MM 34
+
 #endif