Passer::RoboidControl::DifferentialDrive Class Reference

A two-wheeled Propulsion method. More...

#include <DifferentialDrive.h>

Inheritance diagram for Passer::RoboidControl::DifferentialDrive:

Public Member Functions
	DifferentialDrive ()
	Default constructor.
	DifferentialDrive (Placement leftMotorPlacement, Placement rightMotorPlacement)
	Setup of the DifferentialDrive with the Placement of the motors.
void	SetTargetSpeeds (float leftSpeed, float rightSpeed)
	Set the target speeds of the motors directly.
virtual void	SetTwistSpeed (float forward, float yaw) override
	Controls the motors through forward and rotation speeds.
virtual void	SetTwistSpeed (Vector2 linear, float yaw=0.0F)
	Controls the motors through forward and rotation speeds.
virtual void	SetTwistSpeed (Vector3 linear, float yaw=0.0F, float pitch=0.0F, float roll=0.0F)
	Controls the motors through forward and rotation speeds.
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.
Placement *	GetMotorPlacement (unsigned int motorIx)
	Get the Placement of a specific Motor.

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

Detailed Description

A two-wheeled Propulsion method.

The wheels are put at either side of the roboid with the following behaviour

• When both wheels spin forward, the Roboid moves forward
• When both wheels spin backward, the Roboid moves backward
• When both wheels are spinning in opposite directions, the Roboid rotates wihout moving forward or backward
• When just one wheel is spinning, the Roboid turnes while moving forward or backward.

Constructor & Destructor Documentation

DifferentialDrive() [1/2]

DifferentialDrive::DifferentialDrive

(

)

Default constructor.

DifferentialDrive() [2/2]

DifferentialDrive::DifferentialDrive	(	Placement	leftMotorPlacement,
		Placement	rightMotorPlacement
	)

Setup of the DifferentialDrive with the Placement of the motors.

Parameters

leftMotorPlacement	Placement of the left Motor
rightMotorPlacement	Placement of the right Motor In this setup, the left motor Direction will be CounterClockWise when driving forward, while the right motor will turn Clockwise.

Note

When not using controlled motors, the placement of the motors is irrelevant.

Member Function Documentation

SetTargetSpeeds()

void DifferentialDrive::SetTargetSpeeds	(	float	leftSpeed,
		float	rightSpeed
	)

Set the target speeds of the motors directly.

Parameters

leftSpeed	The target speed of the left Motor
rightSpeed	The target speed of the right Motor

SetTwistSpeed() [1/3]

void DifferentialDrive::SetTwistSpeed ( float  forward, float  yaw  )

overridevirtual

Controls the motors through forward and rotation speeds.

Parameters

forward	The target forward speed of the Roboid
yaw	The target rotation speed of the Roboid

Reimplemented from Passer::RoboidControl::Propulsion.

SetTwistSpeed() [2/3]

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

virtual

Controls the motors through forward and rotation speeds.

Parameters

linear	The target linear speed of the Roboid
yaw	The target rotation speed of the Roboid

Note

As a DifferentialDrive cannot move sideward, this function has the same effect as using the void SetTwistSpeed(float forward, float yaw) function.

Reimplemented from Passer::RoboidControl::Propulsion.

SetTwistSpeed() [3/3]

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

virtual

Controls the motors through forward and rotation speeds.

Parameters

linear	The target linear speed
yaw	The target rotation speed around the vertical axis
pitch	Pitch is not supported and is ignored
roll	Roll is not supported and is ignores

Note

As a DifferentialDrive cannot move sideward or vertical, this function has the same effect as using the void SetTwistSpeed(float forward, float yaw) function.

Reimplemented from Passer::RoboidControl::Propulsion.

Update()

void Propulsion::Update ( float  currentTimeMs )

inherited

Update the propulsion state of the Roboid.

Parameters

currentTimeMs

The time in milliseconds when calling this

GetMotorCount()

unsigned int Propulsion::GetMotorCount ( )

inherited

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 )

inherited

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

GetMotorPlacement()

Placement * Propulsion::GetMotorPlacement ( unsigned int  motorIx )

inherited

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

Member Data Documentation

motorCount

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

protectedinherited

The number of motors used for Propulsion.

placement

Placement* Passer::RoboidControl::Propulsion::placement = nullptr

protectedinherited

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/RoboidControlArduino/src/RoboidControl/DifferentialDrive.h
• d:/PlatformIO/RoboidControlArduino/src/RoboidControl/DifferentialDrive.cpp