Sparki Readme

Reference Material

Controls

Functions

See sparki.h

Kinematics

(x dot R)=x_r'=(r(dot)phi_l)/2+(r(dot)phi_r)/2 -> r = radius of wheels, dot=multiplication, phi=wheel speeds (y dot R)=y_r'=0 (theta dot R)=theta_r'=(r(dot)phi_r)/d - (r(dot)phi_r)/d -> r=radius, dot = multiplication, phi=wheel speeds, d=distance between axles

Inverse Kinematics

a,b,c are "Controller Gains"

1. Calculate Error: rho=sqrt((x_start-x_goal)^2+(y_start-y_goal)^2) alpha=theta_start+arctan((y_goal-y_start)/(x_goal-x_start)) nu=theta_goal-theta_start
2. Find the robot speed: x_r'=a(dot)rho theta_r'=b(dot)alpha+c(dot)nu
3. Calculate the wheel speed: phi_l = (2(x_r'/r)-theta'(dot)(d))/2r phi_r = (2(x_r'/r)+theta'(dot)(d))/2r