RoboidControl.ControlledMotor Class Reference

Detailed Description

A motor with speed control It uses a feedback loop from an encoder to regulate the speed The speed is measured in revolutions per second.

Inherits RoboidControl.Motor.

Public Types
enum	Direction { Clockwise = 1 , CounterClockwise = -1 }
	Motor turning direction.

Public Member Functions
	ControlledMotor (Thing parent, RelativeEncoder encoder)
	ControlledMotor (Motor motor, RelativeEncoder encoder)
override void	Update (bool recurse=false)
	Update de state of the thing.
override byte[]	GenerateBinary ()
override void	ProcessBinary (byte[] data)
virtual void	CreateComponent ()
	Function which can be used to create components in external engines.
void	AddChild (Thing child)
	Add a child Thing to this Thing.
bool	RemoveChild (Thing child)
	Remove the given thing as a child of this thing.
void	ReplacePosition (Spherical newPosition)
void	ReplaceOrientation (SwingTwist newOrientation)

Static Public Member Functions
static void	CreateRoot (Participant owner)
	Create a root Thing for a participant.
static ulong	GetTimeMs ()
	Get the current time in milliseconds.

Public Attributes
Direction	direction = Direction.Clockwise
	The forward turning direction of the motor.
bool	terminate = false
	Terminated things are no longer updated.
byte	id = 0
	The ID of this thing.
byte	type = Type.Undetermined
	The type of this thing.
bool	isRemote = false
Participant	owner = null
	The participant owning this thing.
bool	nameChanged = false
Unity.Thing	component = null
	A reference to the representation of the thing in Unity.
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.
ConcurrentQueue< CoreEvent >	updateQueue = new()
	Queue containing events happened to this thing.

Protected Attributes
float	currentTargetSpeed = 0
List< Thing >	children = new()
	The children of this thing.

Properties
override float	targetSpeed [get, set]
virtual float	targetAngularSpeed [get, set]
virtual float	actualAngularSpee [get]
	Get the actual speed from the encoder.
static Thing	localRoot [get]
	The root thing for the local participant.
virtual string	name [get, set]
	The name of the thing.
string	modelUrl [get, set]
	An URL pointing to the location where a model of the thing can be found.
Thing	parent [get, set]
	The parent of this thing.
bool	isRoot [get]
	Indication whether this is a root thing.
Spherical	position [get, set]
	The position of the thing in local space, in meters.
SwingTwist	orientation [get, set]
	The orientation of the thing in local space.
Spherical	linearVelocity [get, set]
	The linear velocity of the thing in local space in meters per second.
Spherical	angularVelocity [get, set]
	The angular velocity of the thing in local space in degrees per second.

Member Function Documentation

Update()

override void RoboidControl.ControlledMotor.Update ( bool  recurse = false )

virtual

Update de state of the thing.

Parameters

recurse

When true, this will Update the descendants recursively

Reimplemented from RoboidControl.Thing.

CreateRoot()

static void RoboidControl.Thing.CreateRoot ( Participant  owner )

staticinherited

Create a root Thing for a participant.

Parameters

owner

The participant who will own this root thing

CreateComponent()

virtual void RoboidControl.Thing.CreateComponent ( )

virtualinherited

Function which can be used to create components in external engines.

Currently this is used to create GameObjects in Unity

Reimplemented in RoboidControl.DistanceSensor, and RoboidControl.TouchSensor.

AddChild()

void RoboidControl.Thing.AddChild ( Thing  child )

inherited

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()

bool RoboidControl.Thing.RemoveChild ( Thing  child )

inherited

Remove the given thing as a child of this thing.

Parameters

child

The child to remove

Returns

True when the child was present or false when it was not found

GetTimeMs()

static ulong RoboidControl.Thing.GetTimeMs ( )

staticinherited

Get the current time in milliseconds.

Returns

The current time in milliseconds

Member Data Documentation

type

byte RoboidControl.Thing.type = Type.Undetermined

inherited

The type of this thing.

This can be either a Thing.Type or a byte value for custom types.

Property Documentation

actualAngularSpee

virtual float RoboidControl.ControlledMotor.actualAngularSpee

get

Get the actual speed from the encoder.

Returns

The speed in angle per second

modelUrl

string RoboidControl.Thing.modelUrl

getsetinherited

An URL pointing to the location where a model of the thing can be found.

Although the roboid implementation is not dependent on the model, the only official supported model formats are .png (sprite), .gltf and .glb