Roomba Class Reference

Inheritance diagram for Roomba:

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Collaboration diagram for Roomba:

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List of all members.

Public Member Functions
	Roomba (OptionManager &mgr, const std::string &descrName="Roomba", const std::string &tagName="Roomba", const char *defdev="/dev/ttyUSB0")
	Default constructor.
	~Roomba ()
	Destructor.
int	getSpeed ()
int	getAngle ()
int	getRadius ()
int	getDist ()
void	setSpeed (const int speed)
void	setRadius (const int radius)
void	sendRawCmd (const std::string &data)
void	playSong (int song)
void	sendStart ()
void	setMode (const int mode)
void	setDemo (const short demo)
void	setLED (const short led, const short color, const short intensity)
void	getDistanceAngle (int &dist, int &ang)
void	sendDriveCommand ()
	Send the command to drive the robot.
void	sendDirectDriveCommand (float steering)
	Send the command to direct drive the robot.
Protected Attributes
int	itsSpeed
int	itsRadius
	current speed
int	itsAngle
	current turning radius set
int	itsDist
	total angle turned since start
bool	robotStarted
	total dist travelled since start
nub::soft_ref< Serial >	itsPort
	robot start status must be true to send commands

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Detailed Description

Definition at line 47 of file Roomba.H.

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Constructor & Destructor Documentation

Roomba::Roomba	(	OptionManager &	mgr,
		const std::string &	descrName = "Roomba",
		const std::string &	tagName = "Roomba",
		const char *	defdev = "/dev/ttyUSB0"
	)

Default constructor.

Definition at line 49 of file Roomba.C.

References ModelComponent::addSubComponent(), itsAngle, itsDist, itsPort, and itsRadius.

Roomba::~Roomba

(

)

Destructor.

Definition at line 66 of file Roomba.C.

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Member Function Documentation

void Roomba::sendDirectDriveCommand

(

float

steering

)

Send the command to direct drive the robot.

Definition at line 285 of file Roomba.C.

References itsPort.

void Roomba::sendDriveCommand

(

)

Send the command to drive the robot.

Definition at line 116 of file Roomba.C.

References itsPort, itsRadius, and robotStarted.

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Member Data Documentation

int Roomba::itsAngle [protected]

current turning radius set

Definition at line 83 of file Roomba.H.

Referenced by Roomba().

int Roomba::itsDist [protected]

total angle turned since start

Definition at line 84 of file Roomba.H.

Referenced by Roomba().

nub::soft_ref<Serial> Roomba::itsPort [protected]

robot start status must be true to send commands

Definition at line 86 of file Roomba.H.

Referenced by Roomba(), sendDirectDriveCommand(), and sendDriveCommand().

int Roomba::itsRadius [protected]

current speed

Definition at line 82 of file Roomba.H.

Referenced by Roomba(), and sendDriveCommand().

bool Roomba::robotStarted [protected]

total dist travelled since start

Definition at line 85 of file Roomba.H.

Referenced by sendDriveCommand().

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

• src/Robots/IRobot/Roomba.H
• src/Robots/IRobot/Roomba.C