RoboidControl::Arduino::DRV8833Motor Class Reference

Detailed Description

Support for a DRV8833 motor controller.

#include <DRV8833.h>

Inheritance diagram for RoboidControl::Arduino::DRV8833Motor:

Public Types
enum class	RotationDirection { Clockwise = 1 , CounterClockwise = -1 }
	Motor turning direction.
enum	Type {   Undetermined , Switch , DistanceSensor , DirectionalSensor ,   TemperatureSensor , TouchSensor , ControlledMotor , UncontrolledMotor ,   Servo , Roboid , Humanoid , ExternalSensor }
	Predefined thing types.

Public Member Functions
	DRV8833Motor (Participant *participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse=false)
	Setup the DC motor.
void	SetMaxRPM (unsigned int rpm)
virtual void	SetAngularVelocity (Spherical velocity) override
	Set the angular velocity of the thing.
Thing *	FindThing (const char *name)
	Find a thing by name.
virtual void	SetParent (Thing *parent)
	Sets the parent Thing.
void	SetParent (Thing *root, const char *name)
Thing *	GetParent ()
	Gets the parent Thing.
virtual void	AddChild (Thing *child)
	Add a child Thing to this Thing.
Thing *	RemoveChild (Thing *child)
	Remove the given thing as a child of this thing.
Thing *	GetChild (unsigned char id, bool recursive=false)
	Get a child by thing Id.
Thing *	GetChildByIndex (unsigned char ix)
	Get a child by index.
void	SetPosition (Spherical position)
	Set the position of the thing.
Spherical	GetPosition ()
	Get the position of the thing.
void	SetOrientation (SwingTwist orientation)
	Set the orientation of the thing.
SwingTwist	GetOrientation ()
	Get the orientation of the thing.
void	SetLinearVelocity (Spherical linearVelocity)
	Set the linear velocity of the thing.
virtual Spherical	GetLinearVelocity ()
	Get the linear velocity of the thing.
virtual Spherical	GetAngularVelocity ()
	Get the angular velocity of the thing.
void	Terminate ()
	Terminated things are no longer updated.
void	SetModel (const char *url)
	Sets the location from where the 3D model of this Thing can be loaded from.
void	Update (bool recursive=false)
virtual void	Update (unsigned long currentTimeMs, bool recursive=false)
	Updates the state of the thing.
virtual void	GenerateBinary (char *buffer, unsigned char *ix)
	Function used to generate binary data for this thing.
virtual void	ProcessBinary (char *bytes)

Static Public Member Functions
static unsigned long	GetTimeMs ()
static void	UpdateThings (unsigned long currentTimeMs)

Public Attributes
bool	reverse = false
Participant *	owner
	The participant managing this thing.
unsigned char	networkId = 0
	The network ID of this thing.
unsigned char	id = 0
	The ID of the thing.
unsigned char	type = 0
	The type of Thing This can be either a Thing::Type of a byte value for custom types.
unsigned char	childCount = 0
	The number of children.
const char *	name = nullptr
	The name of the thing.
const char *	modelUrl = nullptr
	An URL pointing to the location where a model of the thing can be found.
float	modelScale = 1
	The scale of the model (deprecated I think)
bool	positionUpdated = false
	The scale of the thing (deprecated I think)
bool	orientationUpdated = false
	boolean indicating if the orientation was updated
bool	linearVelocityUpdated = false
bool	angularVelocityUpdated = false

Protected Attributes
unsigned char	pinIn1 = 255
unsigned char	pinIn2 = 255
unsigned int	maxRpm = 200
Thing *	parent = nullptr
Thing **	children = nullptr

Constructor & Destructor Documentation

DRV8833Motor()

RoboidControl::Arduino::DRV8833Motor::DRV8833Motor	(	Participant *	participant,
		unsigned char	pinIn1,
		unsigned char	pinIn2,
		bool	reverse = false
	)

Setup the DC motor.

Parameters

pinIn1	the pin number for the in1 signal
pinIn2	the pin number for the in2 signal
direction	the forward turning direction of the motor

Member Function Documentation

SetAngularVelocity()

void RoboidControl::Arduino::DRV8833Motor::SetAngularVelocity ( Spherical  angularVelocity )

overridevirtual

Set the angular velocity of the thing.

Parameters

angularVelocity

the new angular velocity in local space

Reimplemented from RoboidControl::Thing.

FindThing()

Thing * RoboidControl::Thing::FindThing ( const char *  name )

inherited

Find a thing by name.

Parameters

name	Rhe name of the thing

Returns

The found thing or nullptr when nothing is found

SetParent()

void RoboidControl::Thing::SetParent ( Thing *  parent )

virtualinherited

Sets the parent Thing.

Parameters

parent

The Thing which should become the parnet

Remarks

This is equivalent to calling parent->AddChild(this);

GetParent()

Thing * RoboidControl::Thing::GetParent ( )

inherited

Gets the parent Thing.

Returns

The parent Thing

AddChild()

void RoboidControl::Thing::AddChild ( Thing *  child )

virtualinherited

Add a child Thing to this Thing.

Parameters

child

The Thing which should become a child

Remarks

When the Thing is already a child, it will not be added again

RemoveChild()

Thing * RoboidControl::Thing::RemoveChild ( Thing *  child )

inherited

Remove the given thing as a child of this thing.

Parameters

child

The child to remove

Returns

The removed child or nullptr if the child could not be found

GetChild()

Thing * RoboidControl::Thing::GetChild ( unsigned char  id, bool  recursive = false  )

inherited

Get a child by thing Id.

Parameters

id	The thing ID to find
recursive	Look recursively through all descendants

Returns

The found thing of nullptr when nothing is found

GetChildByIndex()

Thing * RoboidControl::Thing::GetChildByIndex ( unsigned char  ix )

inherited

Get a child by index.

Parameters

ix	The child index

Returns

The found thing of nullptr when nothing is found

SetPosition()

void RoboidControl::Thing::SetPosition ( Spherical  position )

inherited

Set the position of the thing.

Parameters

position

The new position in local space, in meters

GetPosition()

Spherical RoboidControl::Thing::GetPosition ( )

inherited

Get the position of the thing.

Returns

The position in local space, in meters

SetOrientation()

void RoboidControl::Thing::SetOrientation ( SwingTwist  orientation )

inherited

Set the orientation of the thing.

Parameters

orientation

The new orientation in local space

GetOrientation()

SwingTwist RoboidControl::Thing::GetOrientation ( )

inherited

Get the orientation of the thing.

Returns

The orienation in local space

SetLinearVelocity()

void RoboidControl::Thing::SetLinearVelocity ( Spherical  linearVelocity )

inherited

Set the linear velocity of the thing.

Parameters

linearVelocity

The new linear velocity in local space, in meters per second

GetLinearVelocity()

Spherical RoboidControl::Thing::GetLinearVelocity ( )

virtualinherited

Get the linear velocity of the thing.

Returns

The linear velocity in local space, in meters per second

GetAngularVelocity()

Spherical RoboidControl::Thing::GetAngularVelocity ( )

virtualinherited

Get the angular velocity of the thing.

Returns

The angular velocity in local space

SetModel()

void RoboidControl::Thing::SetModel ( const char *  url )

inherited

Sets the location from where the 3D model of this Thing can be loaded from.

Parameters

url	The url of the model

Remarks

Although the roboid implementation is not dependent on the model, the only official supported model format is .obj

Update()

void RoboidControl::Thing::Update ( unsigned long  currentTimeMs, bool  recursive = false  )

virtualinherited

Updates the state of the thing.

Parameters

currentTimeMs

The current clock time in milliseconds

Reimplemented in RoboidControl::DifferentialDrive, RoboidControl::Arduino::DigitalInput, and RoboidControl::Arduino::UltrasonicSensor.

GenerateBinary()

void RoboidControl::Thing::GenerateBinary ( char *  buffer, unsigned char *  ix  )

virtualinherited

Function used to generate binary data for this thing.

Parameters

buffer	The byte array for thw binary data
ix	The starting position for writing the binary data

Reimplemented in RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.

ProcessBinary()

void RoboidControl::Thing::ProcessBinary ( char *  bytes )

virtualinherited

Parameters

bytes

The binary data

Reimplemented in RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.

Member Data Documentation

networkId

unsigned char RoboidControl::Thing::networkId = 0

inherited

The network ID of this thing.

Note

This field will likely disappear in future versions

positionUpdated

bool RoboidControl::Thing::positionUpdated = false

inherited

The scale of the thing (deprecated I think)

boolean indicating if the position was updated