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

Inheritance diagram for RoboidControl.DifferentialDrive:

Public Member Functions
	DifferentialDrive (bool invokeEvent=true)
	Create a differential drive without communication abilities </summary Parameters invokeEvent Invoke a OnNewThing event when the thing has been created
	DifferentialDrive (ParticipantUDP participant, byte thingId=0, bool invokeEvent=true)
	Create a differential drive for a participant.
	DifferentialDrive (Thing parent, byte thingId=0, bool invokeEvent=true)
	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.
override void	Update (ulong currentMs, bool recursive=true)
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	Update (bool recurse=false)
	Update de state of the thing.
delegate void	ChangeHandler ()
delegate void	SphericalHandler (Spherical v)
delegate void	ThingHandler (Thing t)
virtual byte[]	GenerateBinary ()
	Function used to generate binary data for this thing.
virtual void	ProcessBinary (byte[] bytes)
	Function used to process binary data received for this thing.

Static Public Member Functions
static ulong	GetTimeMs ()
	Get the current time in milliseconds.
static void	InvokeNewThing (Thing thing)
	Trigger the creation for the given thing.

Public Attributes
bool	terminate = false
Participant	owner = null
	The participant owning this thing.
byte	id = 0
	The ID of this thing.
byte	type = Type.Undetermined
	The type of this thing.
bool	nameChanged = false
string	modelUrl = ""
	An URL pointing to the location where a model of the thing can be found.
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.

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 = null
	The left wheel.
Thing	rightWheel = null
	The right wheel.
List< Thing >	children = new()
	The children of this thing.

Properties
virtual string	name [get, set]
	The name of the thing.
Thing	parent [get, set]
	The parent of this 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.

Events
ChangeHandler	OnNameChanged = delegate { }
	Event which is triggered when the name changes.
ChangeHandler	OnPoseChanged = delegate { }
	Event triggered when the pose has changed.
SphericalHandler	OnLinearVelocityChanged = delegate { }
	Event triggered when the linear velocity has changed.
SphericalHandler	OnAngularVelocityChanged = delegate { }
	Event triggered when the angular velocity has changed.
static ThingHandler	OnNewThing = delegate { }
	Event triggered when a new thing has been created.

Constructor & Destructor Documentation

DifferentialDrive() [1/2]

RoboidControl.DifferentialDrive.DifferentialDrive	(	ParticipantUDP	participant,
		byte	thingId = 0,
		bool	invokeEvent = true
	)

Create a differential drive for a participant.

Parameters

owner	The owning participant
thingId	The ID of the thing, leave out or set to zero to generate an ID
invokeEvent	Invoke a OnNewThing event when the thing has been created

DifferentialDrive() [2/2]

RoboidControl.DifferentialDrive.DifferentialDrive	(	Thing	parent,
		byte	thingId = 0,
		bool	invokeEvent = true
	)

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
invokeEvent	Invoke a OnNewThing event when the thing has been created

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() [1/2]

override void RoboidControl.DifferentialDrive.Update ( ulong  currentMs, bool  recursive = true  )

virtual

Reimplemented from RoboidControl.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.DigitalSensor, 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

Update() [2/2]

void RoboidControl.Thing.Update ( bool  recurse = false )

inherited

Update de state of the thing.

Parameters

recurse

When true, this will Update the descendants recursively

InvokeNewThing()

static void RoboidControl.Thing.InvokeNewThing ( Thing  thing )

staticinherited

Trigger the creation for the given thing.

Parameters

thing

The created thing

GenerateBinary()

virtual byte[] RoboidControl.Thing.GenerateBinary ( )

virtualinherited

Function used to generate binary data for this thing.

Returns

A byte array with the binary data

See also

Passer::RoboidControl::BinaryMsg

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

ProcessBinary()

virtual void RoboidControl.Thing.ProcessBinary ( byte[]  bytes )

virtualinherited

Function used to process binary data received for this thing.

Parameters

bytes

The binary data to process

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

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.