RoboidControl::DifferentialDrive Class Reference

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 : unsigned char {   Undetermined , Switch , DistanceSensor , DirectionalSensor ,   TemperatureSensor , TouchSensor , ControlledMotor , UncontrolledMotor ,   Servo , Roboid , Humanoid , ExternalSensor ,   DifferentialDrive }
	Predefined thing types.

Public Member Functions
	DifferentialDrive ()
	Create a differential drive without networking support.
	DifferentialDrive (Participant *participant, unsigned char thingId=0)
	Create a differential drive with networking support.
	DifferentialDrive (Thing *parent, unsigned char thingId=0)
	Create a new child differential drive.
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
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 void	SetAngularVelocity (Spherical angularVelocity)
	Set the angular 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 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	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
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.

Constructor & Destructor Documentation

DifferentialDrive() [1/2]

RoboidControl::DifferentialDrive::DifferentialDrive	(	Participant *	participant,
		unsigned char	thingId = 0
	)

Create a differential drive with networking support.

Parameters

participant	The local participant
thingId	The ID of the thing, leave out or set to zero to generate an ID

DifferentialDrive() [2/2]

RoboidControl::DifferentialDrive::DifferentialDrive	(	Thing *	parent,
		unsigned char	thingId = 0
	)

Create a new child differential drive.

Parameters

parent	The parent thing
thingId	The ID of the thing, leave out or set to zero to generate an ID

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.

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

SetParent()

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

virtualinherited

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

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

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

GetTimeMs()

unsigned long RoboidControl::Thing::GetTimeMs ( )

staticinherited

Get the current time in milliseconds.

Returns

The current time in milliseconds

GenerateBinary()

int 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

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

bytes

The binary data

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