Roboid Control for C++
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Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Attributes | Static Protected Attributes | List of all members
RoboidControl::Arduino::DRV8833Motor Class Reference

Detailed Description

Support for a DRV8833 motor controller.

#include <DRV8833.h>

Inheritance diagram for RoboidControl::Arduino::DRV8833Motor:
RoboidControl::Thing

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.
 
ThingGetParent ()
 Gets the parent of this Thing.
 
ThingGetChildByIndex (unsigned char ix)
 Get a child by index.
 
virtual void AddChild (Thing *child)
 Add a child Thing to this Thing.
 
ThingRemoveChild (Thing *child)
 Remove the given thing as a child of this thing.
 
ThingGetChild (unsigned char id, bool recurse=false)
 Get a child by thing Id.
 
ThingFindChild (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.
 
Participantowner = 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
 

Constructor & Destructor Documentation

◆ DRV8833Motor()

RoboidControl::Arduino::DRV8833Motor::DRV8833Motor ( DRV8833 *  driver,
unsigned char  pinIn1,
unsigned char  pinIn2,
bool  reverse = false 
)

Setup the DC motor.

Parameters
pinIn1the pin number for the in1 signal
pinIn2the pin number for the in2 signal
directionthe forward turning direction of the motor

Member Function Documentation

◆ SetAngularVelocity()

void RoboidControl::Arduino::DRV8833Motor::SetAngularVelocity ( Spherical  angularVelocity)
overridevirtual

Set the angular velocity of the thing.

Parameters
angularVelocitythe new angular velocity in local space

Reimplemented from RoboidControl::Thing.

◆ 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
urlThe url of the model
Remarks
Although the roboid implementation is not dependent on the model, the only official supported model format is .obj

◆ SetParent()

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

Sets the parent of this Thing.

Parameters
parentThe Thing which should become the parent

◆ GetParent()

Thing * RoboidControl::Thing::GetParent ( )
inherited

Gets the parent of this Thing.

Returns
The parent Thing

◆ GetChildByIndex()

Thing * RoboidControl::Thing::GetChildByIndex ( unsigned char  ix)
inherited

Get a child by index.

Parameters
ixThe 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
childThe 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
childThe 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
idThe thing ID to find
recurseLook 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
nameThe name of the thing
recurseLook 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
positionThe 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
orientationThe 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
linearVelocityThe 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

◆ 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

◆ Update()

void RoboidControl::Thing::Update ( unsigned long  currentTimeMs,
bool  recurse = false 
)
virtualinherited

Updates the state of the thing.

Parameters
currentTimeMsThe current clock time in milliseconds; if this is zero, the current time is retrieved automatically
recurseWhen true, this will Update the descendants recursively

Reimplemented in RoboidControl::DifferentialDrive, RoboidControl::Arduino::DigitalInput, and RoboidControl::Arduino::UltrasonicSensor.

◆ GenerateBinary()

int RoboidControl::Thing::GenerateBinary ( char *  buffer,
unsigned char *  ix 
)
virtualinherited

Function used to generate binary data for this thing.

Parameters
bufferThe byte array for thw binary data
ixThe starting position for writing the binary data
Returns
The size of the binary data

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

◆ ProcessBinary()

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

Function used to process binary data received for this thing.

Parameters
bytesThe binary data

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