DomeDriveSabertooth Class Reference

#include <drive/DomeDriveSabertooth.h>

Inheritance diagram for DomeDriveSabertooth:

Collaboration diagram for DomeDriveSabertooth:

Public Member Functions
	DomeDriveSabertooth (int id, Stream &serial, JoystickController &domeStick)
	Constructor. More...
void	setBaudRate (unsigned baudRate)
void	setAddress (uint8_t addr)
virtual void	setup () override
	Subclasses must implement this function to perform any necessary setup that cannot happen in the constructor. More...
virtual void	stop () override
Public Member Functions inherited from DomeDrive
	DomeDrive (JoystickController &domeStick)
	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 ()
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 Member Functions
virtual void	motor (float m) override
Protected Member Functions inherited from DomeDrive
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)
Protected Member Functions inherited from SabertoothDriver
	SabertoothDriver (byte address, Stream &port)
byte	address () const
void	setAddress (byte addr)
void	autobaud (boolean dontWait=false) const
void	command (byte command, byte value) const
void	motor (int power) const
void	motor (byte motor, int power) const
void	drive (int power) const
void	turn (int power) const
void	stop () const
void	setMinVoltage (byte value) const
void	setMaxVoltage (byte value) const
void	setBaudRate (long baudRate) const
void	setDeadband (byte value) const
void	setRamping (byte value) const
void	setTimeout (int milliseconds) const

Protected Attributes
uint16_t	fBaudRate
Protected Attributes inherited from DomeDrive
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...
Protected Types inherited from DomeDrive
enum	DomeMode { kOff, kHome, kRandom }
Static Protected Member Functions inherited from DomeDrive
static bool	withinArc (double p1, double p2, double p3)
Static Protected Member Functions inherited from SabertoothDriver
static void	autobaud (Stream &port, boolean dontWait=false)

Constructor & Destructor Documentation

DomeDriveSabertooth()

DomeDriveSabertooth::DomeDriveSabertooth ( int  id, Stream &  serial, 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

motor()

virtual void DomeDriveSabertooth::motor ( float  m )

inlineoverrideprotectedvirtual

Implements DomeDrive.

setAddress()

void DomeDriveSabertooth::setAddress ( uint8_t  addr )

inline

setBaudRate()

void DomeDriveSabertooth::setBaudRate ( unsigned  baudRate )

inline

setup()

virtual void DomeDriveSabertooth::setup ( )

inlineoverridevirtual

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

Reimplemented from DomeDrive.

stop()

virtual void DomeDriveSabertooth::stop ( )

inlineoverridevirtual

Reimplemented from DomeDrive.

Member Data Documentation

fBaudRate

uint16_t DomeDriveSabertooth::fBaudRate

protected

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

• drive/DomeDriveSabertooth.h