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 Member Functions
	DifferentialDrive (Thing *parent=Thing::LocalRoot())
	Create a new child differential drive.

	DifferentialDrive (Motor leftMotor, Motor rightMotor, Thing *parent=Thing::LocalRoot())

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

void	SetMotors (Motor &leftMotor, Motor &rightMotor)
	Congures the motors for the wheels.

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

virtual void	Update (bool recursive=true) override

int	GenerateBinary (char bytes, unsigned char ix) override
	Function used to generate binary data for this 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.

void	SetParent (Thing *parent)
	Sets the parent of this Thing.

Thing *	GetParent ()
	Gets the parent of this Thing.

bool	IsRoot () const
	Check if this is a root 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.

virtual void	PrepareForUpdate ()

virtual void	ProcessBinary (char *bytes)
	Function used to process binary data received for this thing.

Static Public Member Functions
static void	CreateRoot (Participant *owner)
	Create a root thing for a participant.

static Thing *	LocalRoot ()
	The root thing for the local participant.

static unsigned long	GetTimeMs ()
	Get the current time in milliseconds.

Public Attributes
Motor *	leftWheel = nullptr
	The left wheel.

Motor *	rightWheel = nullptr
	The right wheel.

bool	terminate = false
	Terminated things are no longer updated.

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.

Participant *	owner = nullptr
	The participant owning this thing.

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.

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 = 0.0f
	The radius of a wheel in meters.

float	wheelSeparation = 0.0f
	The distance between the wheels in meters.

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

Constructor & Destructor Documentation

◆ DifferentialDrive()

RoboidControl::DifferentialDrive::DifferentialDrive ( Thing * parent = Thing::LocalRoot() )

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	(	Motor &	leftMotor,
		Motor &	rightMotor
	)

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 ( bool recursive = true )

overridevirtual

Reimplemented from RoboidControl::Thing.

◆ GenerateBinary()

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

overridevirtual

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 from RoboidControl::Thing.

◆ CreateRoot()

void RoboidControl::Thing::CreateRoot ( Participant * owner )

staticinherited

Create a root thing for a participant.

Parameters

owner The participant who will own this root thing

◆ LocalRoot()

Thing * RoboidControl::Thing::LocalRoot ( )

staticinherited

The root thing for the local participant.

Returns: The root thing for the local participant

◆ 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 formats are .png (sprite), .gltf and .glb

◆ SetParent()

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

inherited

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

◆ IsRoot()

bool RoboidControl::Thing::IsRoot ( ) const

inherited

Check if this is a root thing.

Returns: True is this thing is a root

◆ 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

◆ 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

◆ 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::RelativeEncoder, RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

◆ DifferentialDrive()

Member Function Documentation

◆ SetDriveDimensions()

◆ SetMotors()

◆ SetWheelVelocity()

◆ Update()

◆ GenerateBinary()

◆ CreateRoot()

◆ LocalRoot()

◆ SetModel()

◆ SetParent()

◆ GetParent()

◆ IsRoot()

◆ GetChildByIndex()

◆ AddChild()

◆ RemoveChild()

◆ GetChild()

◆ FindChild()

◆ SetPosition()

◆ GetPosition()

◆ SetOrientation()

◆ GetOrientation()

◆ SetLinearVelocity()

◆ GetLinearVelocity()

◆ SetAngularVelocity()

◆ GetAngularVelocity()

◆ GetTimeMs()

◆ ProcessBinary()