Detailed Description

A thing which can move itself using a differential drive system.

See also: https://en.wikipedia.org/wiki/Differential_wheeled_robot

#include <DifferentialDrive.h>

Inheritance diagram for RoboidControl::DifferentialDrive:

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

Public Member Functions
	DifferentialDrive ()
	Create a differential drive without networking support.

	DifferentialDrive (Participant *participant)
	Create a differential drive with networking support.

void	SetDriveDimensions (float wheelDiameter, float wheelSeparation)
	Configures the dimensions of the drive.

void	SetMotors (Thing leftWheel, Thing rightWheel)
	Congures the motors for the wheels.

void	SetWheelVelocity (float speedLeft, float speedRight)
	Directly specify the speeds of the motors.

virtual void	Update (unsigned long currentMs, bool recursive=true) override

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	Terminated things are no longer updated.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)

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
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
float	wheelRadius = 1.0f
	The radius of a wheel in meters.

float	wheelSeparation = 1.0f
	The distance between the wheels in meters.

float	rpsToMs = 1.0f
	Convert revolutions per second to meters per second.

Thing *	leftWheel = nullptr
	The left wheel.

Thing *	rightWheel = nullptr
	The right wheel.

Thing *	parent = nullptr

Thing **	children = nullptr

Constructor & Destructor Documentation

◆ DifferentialDrive()

RoboidControl::DifferentialDrive::DifferentialDrive ( Participant * participant )

Create a differential drive with networking support.

Parameters

participant The local participant

Member Function Documentation

◆ SetDriveDimensions()

void RoboidControl::DifferentialDrive::SetDriveDimensions	(	float	wheelDiameter,
		float	wheelSeparation
	)

Configures the dimensions of the drive.

Parameters

wheelDiameter	The diameter of the wheels in meters
wheelSeparation	The distance between the wheels in meters

These values are used to compute the desired wheel speed from the set linear and angular velocity.

See also: SetLinearVelocity SetAngularVelocity

◆ SetMotors()

void RoboidControl::DifferentialDrive::SetMotors	(	Thing *	leftWheel,
		Thing *	rightWheel
	)

Congures the motors for the wheels.

Parameters

leftWheel	The motor for the left wheel
rightWheel	The motor for the right wheel

◆ SetWheelVelocity()

void RoboidControl::DifferentialDrive::SetWheelVelocity	(	float	speedLeft,
		float	speedRight
	)

Directly specify the speeds of the motors.

Parameters

speedLeft	The speed of the left wheel in degrees per second. Positive moves the robot in the forward direction.
speedRight	The speed of the right wheel in degrees per second. Positive moves the robot in the forward direction.

◆ Update()

void RoboidControl::DifferentialDrive::Update	(	unsigned long	currentMs,
		bool	recursive = `true`
	)

overridevirtual

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

◆ 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

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

◆ DifferentialDrive()

Member Function Documentation

◆ SetDriveDimensions()

◆ SetMotors()

◆ SetWheelVelocity()

◆ Update()

◆ FindThing()

◆ SetParent()

◆ GetParent()

◆ AddChild()

◆ RemoveChild()

◆ GetChild()

◆ GetChildByIndex()

◆ SetPosition()

◆ GetPosition()

◆ SetOrientation()

◆ GetOrientation()

◆ SetLinearVelocity()

◆ GetLinearVelocity()

◆ SetAngularVelocity()

◆ GetAngularVelocity()

◆ SetModel()

◆ GenerateBinary()

◆ ProcessBinary()

Member Data Documentation

◆ networkId

◆ positionUpdated