RoboidControl::ControlledMotor Class Reference

Detailed Description

A motor with speed control It uses a feedback loop from an encoder to regulate the speed The speed is measured in revolutions per second.

#include <ControlledMotor.h>

Inherits RoboidControl::Motor.

Public Types
enum	Direction { Forward = 1 , Reverse = -1 }

Public Member Functions
	ControlledMotor (Motor *motor, RelativeEncoder *encoder, Thing *parent=Thing::LocalRoot())
virtual void	Update (bool recurse=false) override
	Updates the state of the thing.
virtual void	SetTargetVelocity (float velocity) override
	Set the target verlocity for the motor controller.
virtual float	GetTargetVelocity ()
int	GenerateBinary (char *bytes, unsigned char *ix) override
void	SetName (const char *name)
const char *	GetName () const
void	SetModel (const char *url)
	Sets the location from where the 3D model of this Thing can be loaded from.
void	SetParent (Thing *parent)
	Sets the parent of this Thing.
Thing *	GetParent ()
	Gets the parent of this Thing.
bool	IsRoot () const
	Check if this is a root thing.
Thing *	GetChildByIndex (unsigned char ix)
	Get a child by index.
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 recurse=false)
	Get a child by thing Id.
Thing *	FindChild (const char *name, bool recurse=true)
	Find a thing by name.
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.
virtual void	PrepareForUpdate ()
virtual void	ProcessBinary (char *bytes)
	Function used to process binary data received for this thing.

Static Public Member Functions
static void	CreateRoot (Participant *owner)
	Create a root thing for a participant.
static Thing *	LocalRoot ()
	The root thing for the local participant.
static unsigned long	GetTimeMs ()
	Get the current time in milliseconds.

Public Attributes
float	pidP = 0.5
float	pidD = 0
float	pidI = 0.2
float	actualVelocity
	The actual velocity in revolutions per second.
Direction	rotationDirection
Motor *	motor
RelativeEncoder *	encoder
Direction	direction
	The forward turning direction of the motor.
bool	terminate = false
	Terminated things are no longer updated.
unsigned char	id = 0
	The ID of the thing.
unsigned char	type = Type::Undetermined
	The type of Thing This can be either a Thing::Type of a byte value for custom types.
Participant *	owner = nullptr
	The participant owning this thing.
const char *	name = nullptr
	The name of the thing.
bool	nameChanged = false
const char *	modelUrl = nullptr
	An URL pointing to the location where a model of the thing can be found.
unsigned char	childCount = 0
	The number of children.
bool	hierarchyChanged = true
	Indicator that the hierarchy of the thing has changed.
bool	positionUpdated = false
	Boolean indicating that the thing has an updated position.
bool	orientationUpdated = false
	Boolean indicating the thing has an updated orientation.
bool	linearVelocityUpdated = false
	Boolean indicating the thing has an updated linear velocity.
bool	angularVelocityUpdated = false
	Boolean indicating the thing has an updated angular velocity.

Protected Attributes
float	integral = 0
float	lastError = 0
float	lastUpdateTime
float	targetVelocity = 0

Member Function Documentation

Update()

void RoboidControl::ControlledMotor::Update ( bool  recurse = false )

overridevirtual

Updates the state of the thing.

Parameters

recurse

When true, this will Update the descendants recursively

Reimplemented from RoboidControl::Thing.

SetTargetVelocity()

void RoboidControl::ControlledMotor::SetTargetVelocity ( float  velocity )

overridevirtual

Set the target verlocity for the motor controller.

Parameters

speed

the target velocity in revolutions per second

CreateRoot()

void RoboidControl::Thing::CreateRoot ( Participant *  owner )

staticinherited

Create a root thing for a participant.

Parameters

owner

The participant who will own this root thing

LocalRoot()

Thing * RoboidControl::Thing::LocalRoot ( )

staticinherited

The root thing for the local participant.

Returns

The root thing for the local participant

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 formats are .png (sprite), .gltf and .glb

SetParent()

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

inherited

Sets the parent of this Thing.

Parameters

parent

The Thing which should become the parent

GetParent()

Thing * RoboidControl::Thing::GetParent ( )

inherited

Gets the parent of this Thing.

Returns

The parent Thing

IsRoot()

bool RoboidControl::Thing::IsRoot ( ) const

inherited

Check if this is a root thing.

Returns

True is this thing is a root

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

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  recurse = false  )

inherited

Get a child by thing Id.

Parameters

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

Returns

The found thing of nullptr when nothing is found

FindChild()

Thing * RoboidControl::Thing::FindChild ( const char *  name, bool  recurse = true  )

inherited

Find a thing by name.

Parameters

name	The name of the thing
recurse	Look recursively through all descendants

Returns

The found thing or 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

GetAngularVelocity()

Spherical RoboidControl::Thing::GetAngularVelocity ( )

virtualinherited

Get the angular velocity of the thing.

Returns

The angular velocity in local space

GetTimeMs()

unsigned long RoboidControl::Thing::GetTimeMs ( )

staticinherited

Get the current time in milliseconds.

Returns

The current time in milliseconds

ProcessBinary()

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

virtualinherited

Function used to process binary data received for this thing.

Parameters

bytes

The binary data

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