beobot-BeobotControl.C File Reference

#include "Component/ModelManager.H"
#include "Devices/BeoChip.H"
#include "Devices/DeviceOpts.H"
#include "Beobot/BeobotConfig.H"
#include "Beobot/BeobotControl.H"
#include "Util/MathFunctions.H"
#include <cstdlib>
#include "Beowulf/Beowulf.H"
#include "Util/Types.H"
#include "Util/log.H"
#include <cstring>
#include <signal.h>
#include <time.h>
#include <unistd.h>

Include dependency graph for beobot-BeobotControl.C:

Go to the source code of this file.

Classes
class	MyBeoChipListener
	Our own little BeoChipListener. More...
Functions
void	terminate (int s)
int	main (const int argc, const char *argv[])
	Drive the Beobot under remote control and Board A.
Variables
static bool	goforever = true

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Detailed Description

controls the Beobot motion input can be from both remote and Board A

Definition in file beobot-BeobotControl.C.

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Function Documentation

int main	(	const int	argc,
		const char *	argv[]
	)

Drive the Beobot under remote control and Board A.

This simple test program demonstrate how to capture PWM signals from the Beochip, which on the Beobot correspond to steering and speed inputs from the remote control. The captured signals are then directly fed into the Beobot's steering and speed servos controlled by BeobotControl class (which has the BeoChip).

Definition at line 138 of file beobot-BeobotControl.C.

References ModelComponent::addSubComponent(), BeobotConfig::gearMinVal, BeobotConfig::gearServoNum, TCPmessage::getElementFloat(), ModelManager::getExtraArg(), goforever, MYLOGVERB, ModelManager::parseCommandLine(), BeobotConfig::pwm0MaxVal, BeobotConfig::pwm0MinVal, BeobotConfig::pwm0NeutralVal, BeobotConfig::pwm1MaxVal, BeobotConfig::pwm1MinVal, BeobotConfig::pwm1NeutralVal, TCPmessage::reset(), ModelComponent::start(), and ModelComponent::stop().