#include <drive/DomeDriveSerial.h>

Detailed Description

Base template of automatic forwarder from i2c to CommandEvent.

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

Inheritance diagram for DomeDriveSerial:

Collaboration diagram for DomeDriveSerial:

Public Member Functions
	DomeDriveSerial (Stream &stream, 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...

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

void	printNumZeroPad (unsigned num)

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 Attributes
Stream *	fSerial

bool	fStopped

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)

Constructor & Destructor Documentation

◆ DomeDriveSerial()

DomeDriveSerial::DomeDriveSerial	(	Stream &	stream,
		JoystickController &	domeStick
	)

inline

Constructor.

Will drive PWM pin

Member Function Documentation

◆ motor()

virtual void DomeDriveSerial::motor ( float m )

inlineoverrideprotectedvirtual

Implements DomeDrive.

◆ printNumZeroPad()

void DomeDriveSerial::printNumZeroPad ( unsigned num )

inlineprotected

◆ setup()

virtual void DomeDriveSerial::setup ( )

inlineoverridevirtual

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

Reimplemented from DomeDrive.

◆ stop()

virtual void DomeDriveSerial::stop ( )

inlineoverridevirtual

Reimplemented from DomeDrive.

Member Data Documentation

◆ fSerial

Stream* DomeDriveSerial::fSerial

protected

◆ fStopped

bool DomeDriveSerial::fStopped