BotControl Class Reference

Inheritance diagram for BotControl:

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Collaboration diagram for BotControl:

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List of all members.

Public Types
enum	RobotType {   RCBOT_JEEP, RCBOT_TRUCK, WIREBOT, BEOBOT,   SIMULATION }
Public Member Functions
	BotControl (OptionManager &mgr, const std::string &descrName="Robot Controller", const std::string &tagName="BotControl", RobotType inBotType=SIMULATION)
	~BotControl ()
	Destructor.
void	init ()
	Init process.
float	getSpeed ()
	set the speed -1.0 (reverse) ... 1.0 (forward)
bool	setSpeed (const float speedPos)
	get the speed -1.0 ... 1.0
float	getSteering ()
	gets steering angle; input from -1.0 (full left) to 1.0 (full right)
bool	setSteering (const float steeringPos)
	sets steering angle; input from -1.0 (full left) to 1.0 (full right)
Image< PixRGB< byte > >	getImageSensor (int i=0)
	gets the image sensor i
void	getImageSensorDims (short &w, short &h, int i=0)
	Get image sersor dims.
void	setInfo (const char *info, Point2D< int > trackLoc, Point2D< int > recLoc)
	Added extra info to the display.
int	getUserInput (Point2D< int > &loc)
	Get user input from window.
void	setDisplay (bool sd)
	Set Display.
Protected Attributes
nub::soft_ref< SC8000 >	sc8000
	sc8000 servo controller
nub::soft_ref< SSC >	ssc
	ssc servo controller
nub::soft_ref< BeoChip >	bc
	BeoChip controller.
nub::soft_ref< InputFrameSeries >	ifs
XWinManaged *	xwin

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Detailed Description

Definition at line 61 of file BotControl.H.

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Constructor & Destructor Documentation

BotControl::~BotControl

(

)

Destructor.

Definition at line 106 of file BotControl.C.

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Member Function Documentation

Image< PixRGB< byte > > BotControl::getImageSensor

(

int

i = 0

)

gets the image sensor i

Definition at line 292 of file BotControl.C.

References Timer::getReset(), and Image< T >::initialized().

void BotControl::getImageSensorDims	(	short &	w,
		short &	h,
		int	i = 0
	)

Get image sersor dims.

Definition at line 310 of file BotControl.C.

float BotControl::getSpeed

(

)

set the speed -1.0 (reverse) ... 1.0 (forward)

Reimplemented in BotControlServer_i.

Definition at line 200 of file BotControl.C.

References bc, and sc8000.

float BotControl::getSteering

(

)

gets steering angle; input from -1.0 (full left) to 1.0 (full right)

Reimplemented in BotControlServer_i.

Definition at line 245 of file BotControl.C.

References bc, and sc8000.

int BotControl::getUserInput

(

Point2D< int > &

loc

)

Get user input from window.

Definition at line 347 of file BotControl.C.

References XWinManaged::getLastKeyPress(), and XWinManaged::getLastMouseClick().

void BotControl::init

(

)

Init process.

Reimplemented in BotControlServer_i.

Definition at line 110 of file BotControl.C.

References bc, BeobotConfig::gearMinVal, BeobotConfig::gearServoNum, BeobotConfig::pwm0MaxVal, BeobotConfig::pwm0MinVal, BeobotConfig::pwm0NeutralVal, BeobotConfig::pwm1MaxVal, BeobotConfig::pwm1MinVal, BeobotConfig::pwm1NeutralVal, Timer::reset(), sc8000, BeobotConfig::speedServoNum, ssc, and BeobotConfig::steerServoNum.

void BotControl::setDisplay

(

bool

sd

)

Set Display.

Definition at line 93 of file BotControl.C.

void BotControl::setInfo	(	const char *	info,
		Point2D< int >	trackLoc,
		Point2D< int >	recLoc
	)

Added extra info to the display.

Definition at line 317 of file BotControl.C.

bool BotControl::setSpeed

(

const float

speedPos

)

get the speed -1.0 ... 1.0

Reimplemented in BotControlServer_i.

Definition at line 221 of file BotControl.C.

References bc, sc8000, and ssc.

bool BotControl::setSteering

(

const float

steeringPos

)

sets steering angle; input from -1.0 (full left) to 1.0 (full right)

Reimplemented in BotControlServer_i.

Definition at line 267 of file BotControl.C.

References bc, sc8000, and ssc.

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Member Data Documentation

nub::soft_ref<BeoChip> BotControl::bc [protected]

BeoChip controller.

Definition at line 105 of file BotControl.H.

Referenced by getSpeed(), getSteering(), init(), setSpeed(), and setSteering().

nub::soft_ref<SC8000> BotControl::sc8000 [protected]

sc8000 servo controller

Definition at line 103 of file BotControl.H.

Referenced by getSpeed(), getSteering(), init(), setSpeed(), and setSteering().

nub::soft_ref<SSC> BotControl::ssc [protected]

ssc servo controller

Definition at line 104 of file BotControl.H.

Referenced by init(), setSpeed(), and setSteering().

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

• src/RCBot/BotControl.H
• src/RCBot/BotControl.C