SeaBee Class Reference

Definition and access functions for the BeoSub. More...

#include <BeoSub/SeaBee.H>

Inheritance diagram for SeaBee:

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Collaboration diagram for SeaBee:

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List of all members.

Public Member Functions
void	test ()
void	setTransVel (const float desired)
Constructors and Destructors
	SeaBee (OptionManager &mgr)
	Constructor.
	~SeaBee ()
	Destructor.
mid-level overloads
virtual void	advanceRel (const float relDist, const bool stop=true)
	Advance the sub by some distance in meters.
void	turnOpen (Angle ang, bool b)
	Strafes the sub by some distance in meters.
void	dropMarker (bool b)
	Drop a marker.
Image< PixRGB< byte > >	grabImage (BeoSubCamera bsc) const
	Grab a an image from one of the cameras.
Low-level access functions
void	thrust (const float leftval, const float rightval)
	Activate the thrusters.
void	dive (const float leftval, const float rightval)
void	getThrusters (float &leftval, float &rightval) const
	Get the current thruster settings.
void	getDiveThrusters (float &leftval, float &rightval) const
For internal use by our listeners only -- do not call
nub::soft_ref< BeoChip >	itsBeo
	our beochip
float	itsThrustLeftV
float	itsThrustRightV
float	itsThrustLeftH
float	itsThrustRightH
	our current thruster settings
float	itsDiveSetting
class	BeoSubListener
virtual void	start1 ()
	get started, before our subcomponents start
virtual void	start2 ()
	get started, after our subcomponents have started
virtual void	stop1 ()
	This is called from within stop() before the subcomponents stop.

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Detailed Description

Definition and access functions for the BeoSub.

BeoSub is an autonomous visually-guided submarine. This class impoements the highl-evel functionality, relying on low-level drivers to handle motor activation, compass reading, etc

Definition at line 49 of file SeaBee.H.

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Constructor & Destructor Documentation

SeaBee::SeaBee

(

OptionManager &

mgr

)

Constructor.

Definition at line 76 of file SeaBee.C.

SeaBee::~SeaBee

(

)

Destructor.

Definition at line 173 of file SeaBee.C.

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Member Function Documentation

void SeaBee::advanceRel	(	const float	relDist,
		const bool	stop = true
	)			[virtual]

Advance the sub by some distance in meters.

This is an overload of BeoSub::advanceRel() which ensures we turn off the heading PID during the advance

Implements BeoSub.

Definition at line 248 of file SeaBee.C.

References Angle::getRadians().

void SeaBee::dropMarker

(

bool

blocking

)

[virtual]

Drop a marker.

Implements BeoSub.

Definition at line 523 of file SeaBee.C.

void SeaBee::getThrusters	(	float &	leftval,
		float &	rightval
	)			const

Get the current thruster settings.

Definition at line 407 of file SeaBee.C.

References itsThrustRightH.

Image< PixRGB< byte > > SeaBee::grabImage

(

BeoSubCamera

cam

)

const [virtual]

Grab a an image from one of the cameras.

Implements BeoSub.

Definition at line 527 of file SeaBee.C.

void SeaBee::start1

(

)

[protected, virtual]

get started, before our subcomponents start

Reimplemented from BeoSub.

Definition at line 200 of file SeaBee.C.

void SeaBee::start2

(

)

[protected, virtual]

get started, after our subcomponents have started

Reimplemented from ModelComponent.

Definition at line 207 of file SeaBee.C.

References itsBeo.

void SeaBee::stop1

(

)

[protected, virtual]

This is called from within stop() before the subcomponents stop.

Reimplemented from ModelComponent.

Definition at line 237 of file SeaBee.C.

void SeaBee::thrust	(	const float	leftval,
		const float	rightval
	)

Activate the thrusters.

Values should be between -1.0 (full reverse) and 1.0 (full forward), 0.0 being no motion

Definition at line 380 of file SeaBee.C.

void SeaBee::turnOpen	(	Angle	ang,
		bool	b
	)			[virtual]

Strafes the sub by some distance in meters.

This is an overload of BeoSub::strafeRel() which ensures we turn the heading PID off during the strafe

Implements BeoSub.

Definition at line 518 of file SeaBee.C.

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Member Data Documentation

nub::soft_ref<BeoChip> SeaBee::itsBeo [protected]

our beochip

Definition at line 138 of file SeaBee.H.

Referenced by start2().

float SeaBee::itsThrustRightH [protected]

our current thruster settings

Definition at line 140 of file SeaBee.H.

Referenced by getThrusters().

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The documentation for this class was generated from the following files:

• src/BeoSub/SeaBee.H
• src/BeoSub/SeaBee.C