RoboidControl
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Public Types | Public Member Functions | Public Attributes | Static Public Attributes | Protected Types | Protected Attributes | Static Protected Attributes | List of all members
Passer::RoboidControl::Motor Class Reference

A Motor is a Thing which can move parts of the Roboid. More...

#include <Motor.h>

Inheritance diagram for Passer::RoboidControl::Motor:
Passer::RoboidControl::Thing Passer::RoboidControl::ControlledMotor Passer::RoboidControl::SynchronizedMotors

Public Types

enum class  Direction { Clockwise = 1 , CounterClockwise = -1 }
 Motor turning direction. More...
 

Public Member Functions

 Motor ()
 Default constructor for the Motor.
 
virtual void SetTargetSpeed (float speed)
 Set the target motor speed.
 
virtual float GetTargetSpeed ()
 Get the current target speed of the motor.
 
virtual float GetActualSpeed ()
 Get the current actual speed of the motor.
 
virtual void Update (float currentTimeMs)
 
bool IsMotor ()
 Check if the Thing is a Motor.
 
bool IsSensor ()
 Check if the Thing is a Sensor.
 
void SetParent (Thing *parent)
 
ThingGetParent ()
 
void AddChild (Thing *child)
 
ThingGetChild (unsigned char childIx)
 

Public Attributes

Direction direction = Direction::Clockwise
 The forward turning direction of the motor.
 
float currentTargetSpeed = 0
 
unsigned int type
 The type of Thing.
 
Polar position
 

Static Public Attributes

static const unsigned int SwitchType = SensorType | (unsigned int)Type::Switch
 The type of a switch sensor.
 
static const unsigned int DistanceSensorType
 The type of a distance sensor.
 
static const unsigned int ControlledMotorType
 The type of a controlled motor.
 
static const unsigned int UncontrolledMotorType
 The type of an uncontrolled motor.
 
static const unsigned int ServoType = (unsigned int)Type::Servo
 The type of an object received from the network.
 
static const unsigned int ExternalType = (unsigned int)Type::ExternalSensor
 

Protected Types

enum class  Type {
  Undetermined , Switch , DistanceSensor , ControlledMotor ,
  UncontrolledMotor , Servo , ExternalSensor
}
 Basic Thing types. More...
 

Protected Attributes

Thingparent = nullptr
 
unsigned char childCount = 0
 
Thing ** children = nullptr
 

Static Protected Attributes

static const unsigned int MotorType = 0x8000
 Bitmask for Motor type.
 
static const unsigned int SensorType = 0x4000
 Bitmap for Sensor type.
 

Detailed Description

A Motor is a Thing which can move parts of the Roboid.

Note
Currently only rotational motors are supported

Member Enumeration Documentation

◆ Direction

Motor turning direction.

Enumerator
Clockwise 
CounterClockwise 

◆ Type

enum class Passer::RoboidControl::Thing::Type
strongprotectedinherited

Basic Thing types.

Enumerator
Undetermined 
Switch 
DistanceSensor 
ControlledMotor 
UncontrolledMotor 
Servo 
ExternalSensor 

Constructor & Destructor Documentation

◆ Motor()

Motor::Motor ( )

Default constructor for the Motor.

Member Function Documentation

◆ SetTargetSpeed()

void Motor::SetTargetSpeed ( float  speed)
virtual

Set the target motor speed.

Parameters
speedThe speed between -1 (full backward), 0 (stop) and 1 (full forward)

Reimplemented in Passer::RoboidControl::ControlledMotor, and Passer::RoboidControl::SynchronizedMotors.

◆ GetTargetSpeed()

float Motor::GetTargetSpeed ( )
virtual

Get the current target speed of the motor.

Returns
The speed between -1 (full backward), 0 (stop) and 1 (full forward)

◆ GetActualSpeed()

float Motor::GetActualSpeed ( )
virtual

Get the current actual speed of the motor.

Returns
The speed between -1 (full backward), 0 (stop) and 1 (full forward)

Reimplemented in Passer::RoboidControl::ControlledMotor.

◆ Update()

void Motor::Update ( float  currentTimeMs)
virtual

◆ IsMotor()

bool Thing::IsMotor ( )
inherited

Check if the Thing is a Motor.

Returns
True when the Thing is a Motor and False otherwise

◆ IsSensor()

bool Thing::IsSensor ( )
inherited

Check if the Thing is a Sensor.

Returns
True when the Thing is a Sensor and False otherwise

◆ SetParent()

void Thing::SetParent ( Thing parent)
inherited

◆ GetParent()

Thing * Thing::GetParent ( )
inherited

◆ AddChild()

void Thing::AddChild ( Thing child)
inherited

◆ GetChild()

Thing * Thing::GetChild ( unsigned char  childIx)
inherited

Member Data Documentation

◆ direction

Direction Passer::RoboidControl::Motor::direction = Direction::Clockwise

The forward turning direction of the motor.

◆ currentTargetSpeed

float Passer::RoboidControl::Motor::currentTargetSpeed = 0

◆ type

unsigned int Passer::RoboidControl::Thing::type
inherited

The type of Thing.

◆ SwitchType

const unsigned int Thing::SwitchType = SensorType | (unsigned int)Type::Switch
staticinherited

The type of a switch sensor.

◆ DistanceSensorType

const unsigned int Thing::DistanceSensorType
staticinherited
Initial value:
=
static const unsigned int SensorType
Bitmap for Sensor type.
Definition Thing.h:48

The type of a distance sensor.

◆ ControlledMotorType

const unsigned int Thing::ControlledMotorType
staticinherited
Initial value:
=
static const unsigned int MotorType
Bitmask for Motor type.
Definition Thing.h:46

The type of a controlled motor.

◆ UncontrolledMotorType

const unsigned int Thing::UncontrolledMotorType
staticinherited
Initial value:

The type of an uncontrolled motor.

◆ ServoType

const unsigned int Thing::ServoType = (unsigned int)Type::Servo
staticinherited

The type of an object received from the network.

◆ ExternalType

const unsigned int Thing::ExternalType = (unsigned int)Type::ExternalSensor
staticinherited

◆ position

Polar Passer::RoboidControl::Thing::position
inherited

◆ MotorType

const unsigned int Passer::RoboidControl::Thing::MotorType = 0x8000
staticprotectedinherited

Bitmask for Motor type.

◆ SensorType

const unsigned int Passer::RoboidControl::Thing::SensorType = 0x4000
staticprotectedinherited

Bitmap for Sensor type.

◆ parent

Thing* Passer::RoboidControl::Thing::parent = nullptr
protectedinherited

◆ childCount

unsigned char Passer::RoboidControl::Thing::childCount = 0
protectedinherited

◆ children

Thing** Passer::RoboidControl::Thing::children = nullptr
protectedinherited

The documentation for this class was generated from the following files: