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Roboid Control for C++
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Support for a DRV8833 motor controller.
#include <DRV8833.h>
Public Types | |
enum class | RotationDirection { Clockwise = 1 , CounterClockwise = -1 } |
Motor turning direction. | |
enum | Type : unsigned char { Undetermined , Switch , DistanceSensor , DirectionalSensor , TemperatureSensor , TouchSensor , ControlledMotor , UncontrolledMotor , Servo , Roboid , Humanoid , ExternalSensor , DifferentialDrive } |
Predefined thing types. | |
Public Member Functions | |
DRV8833Motor (DRV8833 *driver, 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. | |
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. | |
virtual void | SetParent (Thing *parent) |
Sets the parent of this Thing. | |
Thing * | GetParent () |
Gets the parent of this 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 Spherical | GetAngularVelocity () |
Get the angular velocity of the thing. | |
void | Update (bool recursive=false) |
Updates the state of the thing. | |
virtual void | Update (unsigned long currentTimeMs, bool recurse=false) |
Updates the state of the thing. | |
virtual int | GenerateBinary (char *buffer, unsigned char *ix) |
Function used to generate binary data for this thing. | |
virtual void | ProcessBinary (char *bytes) |
Function used to process binary data received for this thing. | |
Static Public Member Functions | |
static unsigned long | GetTimeMs () |
Get the current time in milliseconds. | |
static void | UpdateThings (unsigned long currentTimeMs) |
Public Attributes | |
bool | reverse = false |
bool | terminate = false |
Terminated things are no longer updated. | |
Participant * | owner = nullptr |
The participant managing this thing. | |
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. | |
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. | |
float | modelScale = 1 |
The scale of the model (deprecated I think) | |
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 | |
unsigned char | pinIn1 = 255 |
unsigned char | pinIn2 = 255 |
unsigned int | maxRpm = 200 |
uint8_t | in1Ch |
uint8_t | in2Ch |
Static Protected Attributes | |
static uint8_t | nextAvailablePwmChannel = 0 |
RoboidControl::Arduino::DRV8833Motor::DRV8833Motor | ( | DRV8833 * | driver, |
unsigned char | pinIn1, | ||
unsigned char | pinIn2, | ||
bool | reverse = false |
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Setup the DC motor.
pinIn1 | the pin number for the in1 signal |
pinIn2 | the pin number for the in2 signal |
direction | the forward turning direction of the motor |
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overridevirtual |
Set the angular velocity of the thing.
angularVelocity | the new angular velocity in local space |
Reimplemented from RoboidControl::Thing.
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inherited |
Sets the location from where the 3D model of this Thing can be loaded from.
url | The url of the model |
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virtualinherited |
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inherited |
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inherited |
Get a child by index.
ix | The child index |
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virtualinherited |
Remove the given thing as a child of this thing.
child | The child to remove |
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inherited |
Get a child by thing Id.
id | The thing ID to find |
recurse | Look recursively through all descendants |
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inherited |
Find a thing by name.
name | The name of the thing |
recurse | Look recursively through all descendants |
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inherited |
Set the position of the thing.
position | The new position in local space, in meters |
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inherited |
Get the position of the thing.
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inherited |
Set the orientation of the thing.
orientation | The new orientation in local space |
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inherited |
Get the orientation of the thing.
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inherited |
Set the linear velocity of the thing.
linearVelocity | The new linear velocity in local space, in meters per second |
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virtualinherited |
Get the linear velocity of the thing.
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virtualinherited |
Get the angular velocity of the thing.
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staticinherited |
Get the current time in milliseconds.
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virtualinherited |
Updates the state of the thing.
currentTimeMs | The current clock time in milliseconds; if this is zero, the current time is retrieved automatically |
recurse | When true, this will Update the descendants recursively |
Reimplemented in RoboidControl::DifferentialDrive, RoboidControl::Arduino::DigitalInput, and RoboidControl::Arduino::UltrasonicSensor.
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virtualinherited |
Function used to generate binary data for this thing.
buffer | The byte array for thw binary data |
ix | The starting position for writing the binary data |
Reimplemented in RoboidControl::DigitalSensor, RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.
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virtualinherited |
Function used to process binary data received for this thing.
bytes | The binary data |
Reimplemented in RoboidControl::DigitalSensor, RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.