Passer::RoboidControl::Propulsion Class Reference

The Propulsion module for a Roboid is used to move the Roboid in space. More...

#include <Propulsion.h>

Inheritance diagram for Passer::RoboidControl::Propulsion:

Public Member Functions
	Propulsion ()
	Default Constructor for Propulsion.
void	Update (float currentTimeMs)
	Update the propulsion state of the Roboid.
unsigned int	GetMotorCount ()
	Get the number of motors in this roboid.
Motor *	GetMotor (unsigned int motorIx)
	Get a specific motor.
virtual void	SetTwistSpeed (float forward, float yaw=0.0F)
	Get the Placement of a specific Motor.
virtual void	SetTwistSpeed (Vector2 linear, float yaw=0.0F)
	Sets the forward, sideward and rotation speed of a (grounded) Roboid.
virtual void	SetTwistSpeed (Vector3 linear, float yaw=0.0F, float pitch=0.0F, float roll=0.0F)
	Set the target 3D linear and 3D rotation speed of a (flying) Roboid.
virtual void	SetVelocity (Polar velocity)
virtual Polar	GetVelocity ()
	Retrieve the current velocity of the roboid.
virtual float	GetAngularVelocity ()
	Retrieve the current angular velocity of the roboid.

Public Attributes
Roboid *	roboid = nullptr
	The roboid of this propulsion system.

Protected Attributes
unsigned int	motorCount = 0
	The number of motors used for Propulsion.
Motor **	motors = nullptr
	The Placement of the motors used for Propulsion.

Detailed Description

The Propulsion module for a Roboid is used to move the Roboid in space.

Usually, a specific implementation of the propulsion module is used for a robot. This base class does not implement the functions to move the Roboid around.

Constructor & Destructor Documentation

Propulsion()

Propulsion::Propulsion

(

)

Default Constructor for Propulsion.

Member Function Documentation

Update()

void Propulsion::Update

(

float

currentTimeMs

)

Update the propulsion state of the Roboid.

Parameters

currentTimeMs

The time in milliseconds when calling this

GetMotorCount()

unsigned int Propulsion::GetMotorCount

(

)

Get the number of motors in this roboid.

Returns

The number of motors. Zero when no motors are present

GetMotor()

Motor * Propulsion::GetMotor

(

unsigned int

motorIx

)

Get a specific motor.

Parameters

motorIx

The index of the motor

Returns

Returns the motor or a nullptr when no motor with the given index could be found

SetTwistSpeed() [1/3]

void Propulsion::SetTwistSpeed ( float  forward, float  yaw = 0.0F  )

virtual

Get the Placement of a specific Motor.

Parameters

motorIx

The index of the Motor

Returns

Returns the Placement or a nullptr when no Placement with the give index could be found

Sets the forward and rotation speed of a (grounded) Roboid

Parameters

forward	The target forward speed
yaw	The target rotation speed around the vertical axis This function is typically used for Roboid which are driving on the ground.

Reimplemented in Passer::RoboidControl::DifferentialDrive, and Passer::RoboidControl::Quadcopter.

SetTwistSpeed() [2/3]

void Propulsion::SetTwistSpeed ( Vector2  linear, float  yaw = 0.0F  )

virtual

Sets the forward, sideward and rotation speed of a (grounded) Roboid.

Parameters

linear	The target linear (forward, sideward) speed
yaw	The target rotation speed around the vertical axis This function is typically used for Roboid which are driving on the ground which have to ability to move sideward

Reimplemented in Passer::RoboidControl::DifferentialDrive, and Passer::RoboidControl::Quadcopter.

SetTwistSpeed() [3/3]

void Propulsion::SetTwistSpeed ( Vector3  linear, float  yaw = 0.0F, float  pitch = 0.0F, float  roll = 0.0F  )

virtual

Set the target 3D linear and 3D rotation speed of a (flying) Roboid.

Parameters

linear	The target linear speed
yaw	The target rotation speed around the vertical axis
pitch	The target rotation speed around the sideward axis
roll	The target rotation speed around hte forward axis

Reimplemented in Passer::RoboidControl::DifferentialDrive, and Passer::RoboidControl::Quadcopter.

SetVelocity()

void Propulsion::SetVelocity ( Polar  velocity )

virtual

Reimplemented in Passer::RoboidControl::DifferentialDrive.

GetVelocity()

Polar Propulsion::GetVelocity ( )

virtual

Retrieve the current velocity of the roboid.

Returns

The velocity in polar coordinates The actual units of the velocity depend on the implementation

Reimplemented in Passer::RoboidControl::DifferentialDrive.

GetAngularVelocity()

float Propulsion::GetAngularVelocity ( )

virtual

Retrieve the current angular velocity of the roboid.

Returns

The angular velocity The actual unit of the angular velocity depend on the implementation

Reimplemented in Passer::RoboidControl::DifferentialDrive.

Member Data Documentation

roboid

Roboid* Passer::RoboidControl::Propulsion::roboid = nullptr

The roboid of this propulsion system.

motorCount

unsigned int Passer::RoboidControl::Propulsion::motorCount = 0

protected

The number of motors used for Propulsion.

motors

Motor** Passer::RoboidControl::Propulsion::motors = nullptr

protected

The Placement of the motors used for Propulsion.

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

• d:/PlatformIO/RoboidControl/Propulsion.h
• d:/PlatformIO/RoboidControl/Propulsion.cpp