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 (Thing parent=default)
	Create a new differential drive.
void	SetDriveDimensions (float wheelDiameter, float wheelSeparation=0)
	Configures the dimensions of the drive.
void	SetMotors (Motor leftWheel, Motor rightWheel)
	Congures the motors for the wheels.
void	SetWheelVelocity (float speedLeft, float speedRight)
	Directly specify the speeds of the motors.
void	SetWheelAngularVelocity (float angularSpeedLeft, float angularSpeedRight)
	Directly specify the speeds of the motors.
override void	Update (bool recursive=true)
override byte[]	GenerateBinary ()
	Function used to generate binary data for this thing.
override void	ProcessBinary (byte[] data)
	Function used to process binary data received for this thing.
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
Motor	leftWheel = null
	The left wheel.
Motor	rightWheel = null
	The right wheel.
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	Terminated things are no longer updated.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	rpsToMs = 1.0f
	The distance between the wheels in meters.
List< Thing >	children = new()
	The children of this thing.

Properties
float	wheelRadius [get]
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.

Constructor & Destructor Documentation

DifferentialDrive()

RoboidControl.DifferentialDrive.DifferentialDrive

(

Thing

parent = default

)

Create a new differential drive.

Parameters

parent

The parent thing

Member Function Documentation

SetDriveDimensions()

void RoboidControl.DifferentialDrive.SetDriveDimensions	(	float	wheelDiameter,
		float	wheelSeparation = 0
	)

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	leftWheel,
		Motor	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.

SetWheelAngularVelocity()

void RoboidControl.DifferentialDrive.SetWheelAngularVelocity	(	float	angularSpeedLeft,
		float	angularSpeedRight
	)

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 ( bool  recursive = true )

virtual

Reimplemented from RoboidControl.Thing.

GenerateBinary()

override byte[] RoboidControl.DifferentialDrive.GenerateBinary ( )

virtual

Function used to generate binary data for this thing.

Returns

A byte array with the binary data

See also

Passer::RoboidControl::BinaryMsg

Reimplemented from RoboidControl.Thing.

ProcessBinary()

override void RoboidControl.DifferentialDrive.ProcessBinary ( byte[]  bytes )

virtual

Function used to process binary data received for this thing.

Parameters

bytes

The binary data to process

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

rpsToMs

float RoboidControl.DifferentialDrive.rpsToMs = 1.0f

protected

The distance between the wheels in meters.

Convert revolutions per second to meters per second

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

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