BeobotControl Class Reference

Inheritance diagram for BeobotControl:

[legend]Collaboration diagram for BeobotControl:

[legend]List of all members.

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Detailed Description

Definition at line 69 of file BeobotControl.H.

Public Member Functions
	BeobotControl (nub::soft_ref< BeoChip > beoChip, OptionManager &mgr, const std::string &descrName="Beobot Controller", const std::string &tagName="BeobotControl")
	General constructor.
	~BeobotControl ()
	Constructor.
void	calibrateSpeed (const byte neutralval, const byte minval, const byte maxval)
	calibrate the speed SSC to new values
void	calibrateSteer (const byte neutralval, const byte minval, const byte maxval)
	calibrate the steering SSC to new values
float	getSpeed () const
	get speed value [-1.0 .. 1.0]
float	getGear () const
	get gear value [-1.0 .. 1.0]
float	getSteer () const
	get steer value [-1.0 .. 1.0]
bool	setSpeed (const float newspeed)
	set speed value: [-1.0 (full reverse) to 1.0 (full forward)]
bool	setGear (const float newgear)
	set gear: -1.0 (neutral) 0.0 (first gear, slow), 1.0 (second gear, fast)
bool	setSteer (const float newsteer)
	set steer angle: [-1.0 (full left) to 1.0 (full right)]
bool	toSpeedLinear (const float newspeed, const int t)
	linear ramp of speed from current speed to new speed
bool	toSpeedSigmoid (const float newspeed, const int t)
	sigmoid ramp of speed from current speed to new speed
void	rampSpeed (const float newspeed, const int t, SpeedRampType behavior)
	speed ramping function
void	abortRamp (void)
	aborts speed ramping
Friends
void *	speedRampFunc (void *ptr)
	routine for speed ramp thread

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Constructor & Destructor Documentation

BeobotControl::BeobotControl (  nub::soft_ref< BeoChip >  beoChip, OptionManager &  mgr, const std::string &  descrName = "Beobot Controller", const std::string &  tagName = "BeobotControl" )

General constructor. Definition at line 132 of file BeobotControl.C. References BeobotConfig::gearMinVal, BeobotConfig::gearServoNum, BeobotConfig::speedNeutralVal, BeobotConfig::speedServoNum, BeobotConfig::steerNeutralVal, and BeobotConfig::steerServoNum.

BeobotControl::~BeobotControl (   )

Constructor. Definition at line 155 of file BeobotControl.C.

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Member Function Documentation

void BeobotControl::abortRamp (  void   )

aborts speed ramping Used to stop speed ramping thread so that main program has priority for setting speed. Definition at line 327 of file BeobotControl.C.

void BeobotControl::calibrateSpeed (  const byte  neutralval, const byte  minval, const byte  maxval )

calibrate the speed SSC to new values The speed SSC is calibrated to the values defined in a car.conf file during construction. This function allows the SSC to be recalibrated to new min/neutral/max values.

void BeobotControl::calibrateSteer (  const byte  neutralval, const byte  minval, const byte  maxval )

calibrate the steering SSC to new values The steering SSC is calibrated to the values defined in a car.conf file during construction. This function allows the SSC to be recalibrated to new min/neutral/max values.

float BeobotControl::getGear (   )  const

get gear value [-1.0 .. 1.0] Definition at line 166 of file BeobotControl.C. References BeobotConfig::gearServoNum. Referenced by setGear().

float BeobotControl::getSpeed (   )  const

get speed value [-1.0 .. 1.0] Definition at line 158 of file BeobotControl.C. References BeobotConfig::speedServoNum. Referenced by rampSpeed(), setSpeed(), toSpeedLinear(), and toSpeedSigmoid().

float BeobotControl::getSteer (   )  const

get steer value [-1.0 .. 1.0] Definition at line 162 of file BeobotControl.C. References BeobotConfig::steerServoNum. Referenced by setSteer().

void BeobotControl::rampSpeed (  const float  newspeed, const int  t, SpeedRampType  behavior )

speed ramping function This function is used for gradually increasing the speed with a certain behavior over a certain period of time. The ramping will be done in a separate thread so this function will return immediately. It is not necessary to wait until the new speed has been reached before calling this function to modify the ramping parameters again. The ramping function will be stopped if abortRamp() is called, or else if the thread continues other calls to setSpeed() may seem to have no effect. Parameters: newspeed  new speed to be reached after ramping t  time in which new speed will be reached (milliseconds) behavior  specifies behavior of ramping function Definition at line 302 of file BeobotControl.C. References getSpeed(), Timer::reset(), and speedRampFunc.

bool BeobotControl::setGear (  const float  newgear  )

set gear: -1.0 (neutral) 0.0 (first gear, slow), 1.0 (second gear, fast) Definition at line 211 of file BeobotControl.C. References BeobotConfig::gearServoNum, getGear(), and MAX_SERVO_MOVE.

bool BeobotControl::setSpeed (  const float  newspeed  )

set speed value: [-1.0 (full reverse) to 1.0 (full forward)] Definition at line 170 of file BeobotControl.C. References getSpeed(), MAX_SERVO_MOVE, and BeobotConfig::speedServoNum. Referenced by speedRampFunc(), toSpeedLinear(), and toSpeedSigmoid().

bool BeobotControl::setSteer (  const float  newsteer  )

set steer angle: [-1.0 (full left) to 1.0 (full right)] Definition at line 193 of file BeobotControl.C. References getSteer(), MAX_SERVO_MOVE, and BeobotConfig::steerServoNum.

bool BeobotControl::toSpeedLinear (  const float  newspeed, const int  t )

linear ramp of speed from current speed to new speed Speed will reach newspeed after t milliseconds Definition at line 241 of file BeobotControl.C. References Timer::get(), getSpeed(), i, and setSpeed().

bool BeobotControl::toSpeedSigmoid (  const float  newspeed, const int  t )

sigmoid ramp of speed from current speed to new speed Speed will reach newspeed after t milliseconds Definition at line 270 of file BeobotControl.C. References exp(), Timer::get(), getSpeed(), i, and setSpeed().

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Friends And Related Function Documentation

void* speedRampFunc (  void *  ptr  )  [friend]

routine for speed ramp thread Definition at line 46 of file BeobotControl.C. Referenced by rampSpeed().

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

• src/Beobot/BeobotControl.H
• src/Beobot/BeobotControl.C

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