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 Types
enum	Type {   Undetermined , Switch , DistanceSensor , DirectionalSensor ,   TemperatureSensor , TouchSensor , ControlledMotor , UncontrolledMotor ,   Servo , Roboid , Humanoid , ExternalSensor }
	Predefined thing types.

Public Member Functions
	DifferentialDrive ()
	Create a differential drive without networking support.
	DifferentialDrive (LocalParticipant participant)
	Create a differential drive with networking support.
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.
delegate void	ChangeHandler ()
delegate void	SphericalHandler (Spherical v)
delegate void	ThingHandler (Thing t)
void	AddChild (Thing child)
	Attach a thing as a child of this thing.
void	RemoveChild (Thing child)
	Remove the given thing as a child of this thing.
void	Update (bool recursive=false)
	Convience function for use in Unity which removes the need for a currentTime argument.
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 void	InvokeNewThing (Thing thing)
	Trigger the creation for the given thing.
static bool	IsThing (Thing thing, byte networkId, byte thingId)
	Check if the thing has the given properaties.

Public Attributes
Participant	owner
	The participant to which this thing belongs.
byte	networkId
	The network ID of this thing.
byte	id
	The ID of this thing.
byte	type
	The type of this thing. This can be either a Thing::Type (needs casting) or a byte value for custom types.
List< Thing >	children = new List<Thing>()
	The list of children of this thing.
string	modelUrl = ""
	An URL pointing to the location where a model of the thing can be found.
bool	hasPosition = false
Spherical	angularVelocity = Spherical.zero
	The angular velocity of the thing in local space.
Unity.Thing	component = null
	A reference to the representation of the thing in Unity.

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.

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

Events
ChangeHandler	OnParentChanged = delegate { }
	Event which is triggered when the parent changes.
ChangeHandler	OnNameChanged = delegate { }
	Event which is triggered when the name changes.
ChangeHandler	OnPositionChanged = delegate { }
	Event triggered when the position has changed.
ChangeHandler	OnOrientationChanged = delegate { }
	Event triggered when the orientation has changed.
SphericalHandler	OnLinearVelocityChanged = delegate { }
	Event triggered when the linear velocity has changed.
static ThingHandler	OnNewThing = delegate { }
	Event triggered when a new thing has been created.

Constructor & Destructor Documentation

DifferentialDrive()

RoboidControl.DifferentialDrive.DifferentialDrive

(

LocalParticipant

participant

)

Create a differential drive with networking support.

Parameters

participant

The local participant

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()

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.DistanceSensor, and RoboidControl.TouchSensor.

AddChild()

void RoboidControl.Thing.AddChild ( Thing  child )

inherited

Attach a thing as a child of this thing.

Parameters

child

The thing to attach as a child

RemoveChild()

void RoboidControl.Thing.RemoveChild ( Thing  child )

inherited

Remove the given thing as a child of this thing.

Parameters

child

The child to remove

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.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

Reimplemented in RoboidControl.DistanceSensor, and RoboidControl.TemperatureSensor.

InvokeNewThing()

static void RoboidControl.Thing.InvokeNewThing ( Thing  thing )

staticinherited

Trigger the creation for the given thing.

Parameters

thing

The created thing

IsThing()

static bool RoboidControl.Thing.IsThing ( Thing  thing, byte  networkId, byte  thingId  )

staticinherited

Check if the thing has the given properaties.

Parameters

thing	The thing to check
networkId	The network ID to compare to
thingId	The thing ID to compare to

Returns

True when the thing has the given properties