BeeSTEM_PID_Listener Class Reference

Inheritance diagram for BeeSTEM_PID_Listener:

Collaboration diagram for BeeSTEM_PID_Listener:

Public Member Functions
	BeeSTEM_PID_Listener (nub::soft_ref< BeeSTEM > &b)
void	setTargetHeading (int _h)
void	setTargetPitch (int _h)
void	disableHeadingTarget ()
void	disablePitchTarget ()
void	setPrintOnly (bool b)
int	getPos ()
virtual void	event (const BeeSTEMEventType t, const unsigned char dat1, const unsigned char dat2)
	An event was received.
	BeeSTEM_PID_Listener (nub::soft_ref< BeeSTEM > &b)
void	setTargetHeading (int _h)
void	setTargetPitch (int _h)
void	disableHeadingTarget ()
void	disablePitchTarget ()
void	setPrintOnly (bool b)
int	getPos ()
virtual void	event (const BeeSTEMEventType t, const unsigned char dat1, const unsigned char dat2)
	An event was received.

Detailed Description

Our own little BeeSTEMListener.

Definition at line 103 of file test-SeaBeeInterface.C.

Member Function Documentation

virtual void BeeSTEM_PID_Listener::event	(	const BeeSTEMEventType	t,
		const unsigned char	dat1,
		const unsigned char	dat2
	)			`[inline, virtual]`

An event was received.

This function will be called by the BeeSTEM once you have registered your BeeSTEMListener derivative with the BeeSTEM using BeeSTEM::setListener(). Beware that the call to event() will be from a thread running in the BeeSTEM and thus will operate in parallel with your main thread and main loop. See test-BeeSTEM.C for an example of how to synchronize a main loop with these asynchronous event calls. The following data will be passed along with the event type:

    _type______________________dat1__________________dat2_
    COMPASS_HEADING             heading               0
    COMPASS_PITCH               pitch                 0
    COMPASS_ROLL                roll                  0
    ACCEL_X                     x-acceleration        0
    ACCEL_Y                     y-acceleration        0
    INT_PRESS                   internal pressure     0
    EXT_PRESS                   external pressure     0
    TEMP1                       temperature 1         0
    TEMP2                       temperature 2         0
    TEMP3                       temperature 3         0
    DIG_IN                      digital input byte    0
    ADC_IN                      spare adc value       0
    MOTOR_CURR                  current               motor number
    All Others                  0                     0

Implements BeeSTEMListener.

Definition at line 171 of file test-TunePID.C.

References rutz::shared_ptr< T >::is_valid().

virtual void BeeSTEM_PID_Listener::event	(	const BeeSTEMEventType	t,
		const unsigned char	dat1,
		const unsigned char	dat2
	)			`[inline, virtual]`