Detailed Description

An HC-SR04 ultrasonic distance sensor.

#include <UltrasonicSensor.h>

Inheritance diagram for RoboidControl::Arduino::UltrasonicSensor:

Public Types
enum	Type { Undetermined , Switch , DistanceSensor , DirectionalSensor , TemperatureSensor , TouchSensor , ControlledMotor , UncontrolledMotor , Servo , Roboid , Humanoid , ExternalSensor }
	Predefined thing types.

Public Member Functions
	UltrasonicSensor (Participant *participant, unsigned char pinTrigger, unsigned char pinEcho)
	Setup an ultrasonic sensor.

float	GetDistance ()
	erform an ultrasonic 'ping' to determine the distance to the nearest object

virtual void	Update (unsigned long currentTimeMs, bool recursive=false) override

void	GenerateBinary (char bytes, unsigned char ix) override
	Function to create a binary message with the temperature.

virtual void	ProcessBinary (char *bytes) override
	Function to extract the temperature received in the binary message.

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 void	SetAngularVelocity (Spherical angularVelocity)
	Set the angular 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	Terminated things are no longer updated.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)

Static Public Member Functions
static unsigned long	GetTimeMs ()

static void	UpdateThings (unsigned long currentTimeMs)

Public Attributes
float	touchDistance = 0.2f
	The distance at which the object is considered to be touched.

float	distance = 0
	The last read distance.

bool	touchedSomething = false
	Value which is true when the sensor is touching something, false otherwise.

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	pinTrigger = 0
	The pin number of the trigger signal.

unsigned char	pinEcho = 0
	The pin number of the echo signal.

Thing *	parent = nullptr

Thing **	children = nullptr

Constructor & Destructor Documentation

◆ UltrasonicSensor()

RoboidControl::Arduino::UltrasonicSensor::UltrasonicSensor	(	Participant *	participant,
		unsigned char	pinTrigger,
		unsigned char	pinEcho
	)

Setup an ultrasonic sensor.

Parameters

participant	The participant to use
pinTrigger	The pin number of the trigger signal
pinEcho	The pin number of the echo signal

Member Function Documentation

◆ GetDistance()

float RoboidControl::Arduino::UltrasonicSensor::GetDistance ( )

erform an ultrasonic 'ping' to determine the distance to the nearest object

Returns: the measured distance in meters to the nearest object

◆ Update()

void RoboidControl::Arduino::UltrasonicSensor::Update	(	unsigned long	currentTimeMs,
		bool	recursive = `false`
	)

overridevirtual

Reimplemented from RoboidControl::Thing.

◆ GenerateBinary()

void RoboidControl::TouchSensor::GenerateBinary	(	char *	bytes,
		unsigned char *	ix
	)

overridevirtualinherited

Function to create a binary message with the temperature.

Parameters

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

Reimplemented from RoboidControl::Thing.

◆ ProcessBinary()

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

overridevirtualinherited

Function to extract the temperature received in the binary message.

Parameters

bytes The binary data

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

◆ SetAngularVelocity()

void RoboidControl::Thing::SetAngularVelocity ( Spherical angularVelocity )

virtualinherited

Set the angular velocity of the thing.

Parameters

angularVelocity the new angular velocity in local space

Reimplemented in RoboidControl::Arduino::DRV8833Motor.

◆ 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

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

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

◆ UltrasonicSensor()

Member Function Documentation

◆ GetDistance()

◆ Update()

◆ GenerateBinary()

◆ ProcessBinary()

◆ FindThing()

◆ SetParent()

◆ GetParent()

◆ AddChild()

◆ RemoveChild()

◆ GetChild()

◆ GetChildByIndex()

◆ SetPosition()

◆ GetPosition()

◆ SetOrientation()

◆ GetOrientation()

◆ SetLinearVelocity()

◆ GetLinearVelocity()

◆ SetAngularVelocity()

◆ GetAngularVelocity()

◆ SetModel()

Member Data Documentation

◆ networkId

◆ positionUpdated