#include <drive/DomeDrive.h>

Detailed Description

Base template of automatic forwarder from i2c to CommandEvent.

#include "drive/DomeDrive.h"
 
DomeDrive domeDrive;

Inheritance diagram for DomeDrive:

Collaboration diagram for DomeDrive:

Public Member Functions
	DomeDrive (JoystickController &domeStick)
	Constructor. More...

virtual void	setup () override
	Subclasses must implement this function to perform any necessary setup that cannot happen in the constructor. More...

void	setDomePosition (DomePosition *domePosition)

bool	checkError ()

bool	getEnable () const

void	setEnable (bool enable)

uint32_t	getSerialLatency () const

void	setSerialLatency (uint32_t ms)

bool	getInverted () const

void	setInverted (bool invert)

bool	getScaling () const

void	setScaling (bool scaling)

float	getMaxSpeed () const

void	setMaxSpeed (float modifier)

unsigned	getThrottleAccelerationScale () const

void	setThrottleAccelerationScale (unsigned scale)

unsigned	getThrottleDecelerationScale () const

void	setThrottleDecelerationScale (unsigned scale)

void	setDomeStick (JoystickController &domeStick)

bool	useThrottle ()

bool	useHardStop ()

bool	useLeftStick ()

bool	useRightStick ()

void	setUseThrottle (bool use)

void	setUseHardStop (bool use)

void	setUseLeftStick ()

void	setUseRightStick ()

virtual void	stop ()

bool	isMoving ()

JoystickController *	getActiveStick ()

virtual void	animate () override
	Subclasses must implement this function to run through a single frame of animation/activity. More...

virtual void	driveDome (float m)

virtual void	autonomousDriveDome (float m)

virtual bool	idle ()

Public Member Functions inherited from SetupEvent
	SetupEvent ()
	Default Constructor. More...

Public Member Functions inherited from AnimatedEvent
	AnimatedEvent ()
	Default Constructor. More...

void	setLoopDoneCallback (AnimatedLoopDone loopProc)

Protected Types
enum	DomeMode { kOff, kHome, kRandom }

Protected Member Functions
virtual void	motor (float m)=0

virtual float	getThrottle ()

virtual float	throttleSpeed (float speedModifier)

int	normalize (int degrees)

int	shortestDistance (int origin, int target)

float	getSpeed (float percentage)

bool	moveDomeToTarget (int pos, int target, int fudge, float speed, float &m)

void	domeStick (JoystickController *stick, float speedModifier)

Static Protected Member Functions
static bool	withinArc (double p1, double p2, double p3)

Protected Attributes
JoystickController &	fDomeStick

bool	fError = false

bool	fEnabled = false

bool	fWasConnected = false

bool	fMotorStopped = false

bool	fIdle = true

bool	fScaling = false

bool	fUseLeftStick = false

bool	fUseThrottle = true

bool	fUseHardStop = false

bool	fInverted = false

bool	fMoving = false

float	fSpeedModifier

float	fDrive = 0

float	fAutoDrive = 0

int	fLastDomePosition = -1

uint32_t	fSerialLatency = 0

uint32_t	fLastCommand = 0

uint32_t	fLastDomeMovement = 0

bool	fDomeMovementStarted = false

unsigned	fThrottleAccelerationScale = 0

unsigned	fThrottleDecelerationScale = 0

float	fDomeThrottle = 0

int	fLastDomeMode = -1

int	fAutoDomeTargetPos = 0

bool	fAutoDomeGoHome = false

bool	fAutoDomeLeft = random(1)

uint32_t	fNextAutoDomeMovement = 0

DomePosition *	fDomePosition = nullptr

uint32_t	fMovementStartTime = 0

uint32_t	fMovementFinishTime = 0

void(*	fComplete )() = nullptr

Additional Inherited Members
Static Public Member Functions inherited from SetupEvent
static void	ready ()
	Calls setup() for each created AnimatedEvent subclass. More...

Static Public Member Functions inherited from AnimatedEvent
static void	process ()
	Calls animate() for each created AnimatedEvent subclass. More...

Member Enumeration Documentation

◆ DomeMode

enum DomeDrive::DomeMode

protected

Enumerator
kOff
kHome
kRandom

Constructor & Destructor Documentation

◆ DomeDrive()

DomeDrive::DomeDrive ( JoystickController & domeStick )

inline

Constructor.

Only a single instance of WifiSerialBridge should be created per sketch.

Parameters

port	the port number of this service

Member Function Documentation

◆ animate()

virtual void DomeDrive::animate ( )

inlineoverridevirtual

Subclasses must implement this function to run through a single frame of animation/activity.

Subclasses should not call delay() or otherwise block.

Implements AnimatedEvent.

◆ autonomousDriveDome()

virtual void DomeDrive::autonomousDriveDome ( float m )

inlinevirtual

◆ checkError()

bool DomeDrive::checkError ( )

inline

◆ domeStick()

void DomeDrive::domeStick	(	JoystickController *	stick,
		float	speedModifier
	)

inlineprotected

◆ driveDome()

virtual void DomeDrive::driveDome ( float m )

inlinevirtual

◆ getActiveStick()

JoystickController* DomeDrive::getActiveStick ( )

inline

◆ getEnable()

bool DomeDrive::getEnable ( ) const

inline

◆ getInverted()

bool DomeDrive::getInverted ( ) const

inline

◆ getMaxSpeed()

float DomeDrive::getMaxSpeed ( ) const

inline

◆ getScaling()

bool DomeDrive::getScaling ( ) const

inline

◆ getSerialLatency()

uint32_t DomeDrive::getSerialLatency ( ) const

inline

◆ getSpeed()

float DomeDrive::getSpeed ( float percentage )

inlineprotected

◆ getThrottle()

virtual float DomeDrive::getThrottle ( )

inlineprotectedvirtual

◆ getThrottleAccelerationScale()

unsigned DomeDrive::getThrottleAccelerationScale ( ) const

inline

◆ getThrottleDecelerationScale()

unsigned DomeDrive::getThrottleDecelerationScale ( ) const

inline

◆ idle()

virtual bool DomeDrive::idle ( )

inlinevirtual

◆ isMoving()

bool DomeDrive::isMoving ( )

inline

◆ motor()

virtual void DomeDrive::motor ( float m )

protectedpure virtual

Implemented in DomeDriveSabertooth, DomeDriveSerial, and DomeDrivePWM.

◆ moveDomeToTarget()

bool DomeDrive::moveDomeToTarget	(	int	pos,
		int	target,
		int	fudge,
		float	speed,
		float &	m
	)

inlineprotected

◆ normalize()

int DomeDrive::normalize ( int degrees )

inlineprotected

◆ setDomePosition()

void DomeDrive::setDomePosition ( DomePosition * domePosition )

inline

◆ setDomeStick()

void DomeDrive::setDomeStick ( JoystickController & domeStick )

inline

◆ setEnable()

void DomeDrive::setEnable ( bool enable )

inline

◆ setInverted()

void DomeDrive::setInverted ( bool invert )

inline

◆ setMaxSpeed()

void DomeDrive::setMaxSpeed ( float modifier )

inline

◆ setScaling()

void DomeDrive::setScaling ( bool scaling )

inline

◆ setSerialLatency()

void DomeDrive::setSerialLatency ( uint32_t ms )

inline

◆ setThrottleAccelerationScale()

void DomeDrive::setThrottleAccelerationScale ( unsigned scale )

inline

◆ setThrottleDecelerationScale()

void DomeDrive::setThrottleDecelerationScale ( unsigned scale )

inline

◆ setup()

virtual void DomeDrive::setup ( )

inlineoverridevirtual

Subclasses must implement this function to perform any necessary setup that cannot happen in the constructor.

Implements SetupEvent.

Reimplemented in DomeDriveSabertooth, DomeDrivePWM, and DomeDriveSerial.

◆ setUseHardStop()

void DomeDrive::setUseHardStop ( bool use )

inline

◆ setUseLeftStick()

void DomeDrive::setUseLeftStick ( )

inline

◆ setUseRightStick()

void DomeDrive::setUseRightStick ( )

inline

◆ setUseThrottle()

void DomeDrive::setUseThrottle ( bool use )

inline

◆ shortestDistance()

int DomeDrive::shortestDistance	(	int	origin,
		int	target
	)

inlineprotected

◆ stop()

virtual void DomeDrive::stop ( )

inlinevirtual

Reimplemented in DomeDriveSabertooth, DomeDrivePWM, and DomeDriveSerial.

◆ throttleSpeed()

virtual float DomeDrive::throttleSpeed ( float speedModifier )

inlineprotectedvirtual

◆ useHardStop()

bool DomeDrive::useHardStop ( )

inline

◆ useLeftStick()

bool DomeDrive::useLeftStick ( )

inline

◆ useRightStick()

bool DomeDrive::useRightStick ( )

inline

◆ useThrottle()

bool DomeDrive::useThrottle ( )

inline

◆ withinArc()

static bool DomeDrive::withinArc	(	double	p1,
		double	p2,
		double	p3
	)

inlinestaticprotected

Member Data Documentation

◆ fAutoDomeGoHome

bool DomeDrive::fAutoDomeGoHome = false

protected

◆ fAutoDomeLeft

bool DomeDrive::fAutoDomeLeft = random(1)

protected

◆ fAutoDomeTargetPos

int DomeDrive::fAutoDomeTargetPos = 0

protected

◆ fAutoDrive

float DomeDrive::fAutoDrive = 0

protected

◆ fComplete

void(* DomeDrive::fComplete) () = nullptr

protected

◆ fDomeMovementStarted

bool DomeDrive::fDomeMovementStarted = false

protected

◆ fDomePosition

DomePosition* DomeDrive::fDomePosition = nullptr

protected

◆ fDomeStick

JoystickController& DomeDrive::fDomeStick

protected

◆ fDomeThrottle

float DomeDrive::fDomeThrottle = 0

protected

◆ fDrive

float DomeDrive::fDrive = 0

protected

◆ fEnabled

bool DomeDrive::fEnabled = false

protected

◆ fError

bool DomeDrive::fError = false

protected

◆ fIdle

bool DomeDrive::fIdle = true

protected

◆ fInverted

bool DomeDrive::fInverted = false

protected

◆ fLastCommand

uint32_t DomeDrive::fLastCommand = 0

protected

◆ fLastDomeMode

int DomeDrive::fLastDomeMode = -1

protected

◆ fLastDomeMovement

uint32_t DomeDrive::fLastDomeMovement = 0

protected

◆ fLastDomePosition

int DomeDrive::fLastDomePosition = -1

protected

◆ fMotorStopped

bool DomeDrive::fMotorStopped = false

protected

◆ fMovementFinishTime

uint32_t DomeDrive::fMovementFinishTime = 0

protected

◆ fMovementStartTime

uint32_t DomeDrive::fMovementStartTime = 0

protected

◆ fMoving

bool DomeDrive::fMoving = false

protected

◆ fNextAutoDomeMovement

uint32_t DomeDrive::fNextAutoDomeMovement = 0

protected

◆ fScaling

bool DomeDrive::fScaling = false

protected

◆ fSerialLatency

uint32_t DomeDrive::fSerialLatency = 0

protected

◆ fSpeedModifier

float DomeDrive::fSpeedModifier

protected

◆ fThrottleAccelerationScale

unsigned DomeDrive::fThrottleAccelerationScale = 0

protected

◆ fThrottleDecelerationScale

unsigned DomeDrive::fThrottleDecelerationScale = 0

protected

◆ fUseHardStop

bool DomeDrive::fUseHardStop = false

protected

◆ fUseLeftStick

bool DomeDrive::fUseLeftStick = false

protected

◆ fUseThrottle

bool DomeDrive::fUseThrottle = true

protected

◆ fWasConnected

bool DomeDrive::fWasConnected = false

protected

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

drive/DomeDrive.h

Detailed Description

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ DomeMode

Constructor & Destructor Documentation

◆ DomeDrive()

Member Function Documentation

◆ animate()

◆ autonomousDriveDome()

◆ checkError()

◆ domeStick()

◆ driveDome()

◆ getActiveStick()

◆ getEnable()

◆ getInverted()

◆ getMaxSpeed()

◆ getScaling()

◆ getSerialLatency()

◆ getSpeed()

◆ getThrottle()

◆ getThrottleAccelerationScale()

◆ getThrottleDecelerationScale()

◆ idle()

◆ isMoving()

◆ motor()

◆ moveDomeToTarget()

◆ normalize()

◆ setDomePosition()

◆ setDomeStick()

◆ setEnable()

◆ setInverted()

◆ setMaxSpeed()

◆ setScaling()

◆ setSerialLatency()

◆ setThrottleAccelerationScale()

◆ setThrottleDecelerationScale()

◆ setup()

◆ setUseHardStop()

◆ setUseLeftStick()

◆ setUseRightStick()

◆ setUseThrottle()

◆ shortestDistance()

◆ stop()

◆ throttleSpeed()

◆ useHardStop()

◆ useLeftStick()

◆ useRightStick()

◆ useThrottle()

◆ withinArc()

Member Data Documentation

◆ fAutoDomeGoHome

◆ fAutoDomeLeft

◆ fAutoDomeTargetPos

◆ fAutoDrive

◆ fComplete

◆ fDomeMovementStarted

◆ fDomePosition

◆ fDomeStick

◆ fDomeThrottle

◆ fDrive

◆ fEnabled

◆ fError

◆ fIdle

◆ fInverted

◆ fLastCommand

◆ fLastDomeMode

◆ fLastDomeMovement

◆ fLastDomePosition

◆ fMotorStopped

◆ fMovementFinishTime

◆ fMovementStartTime

◆ fMoving

◆ fNextAutoDomeMovement

◆ fScaling

◆ fSerialLatency