#include <drive/TankDrive.h>

Detailed Description

Base template of automatic forwarder from i2c to CommandEvent.

#include "drive/TankDrive.h"
 
TankDrive tankDrive;

Inheritance diagram for TankDrive:

Collaboration diagram for TankDrive:

Public Member Functions
	TankDrive (JoystickController &driveStick)
	Constructor. More...

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

bool	getEnable ()

void	setEnable (bool enable)

uint32_t	getSerialLatency ()

void	setSerialLatency (uint32_t ms)

bool	getChannelMixing ()

void	setChannelMixing (bool mixing)

bool	getThrottleInverted ()

void	setThrottleInverted (bool invert)

bool	getTurnInverted ()

void	setTurnInverted (bool invert)

bool	getScaling ()

void	setScaling (bool scaling)

float	getMaxSpeed ()

void	setMaxSpeed (float modifier)

unsigned	getThrottleAccelerationScale ()

void	setThrottleAccelerationScale (unsigned scale)

unsigned	getThrottleDecelerationScale ()

void	setThrottleDecelerationScale (unsigned scale)

unsigned	getTurnAccelerationScale ()

void	setTurnAccelerationScale (unsigned scale)

unsigned	getTurnDecelerationScale ()

void	setTurnDecelerationScale (unsigned scale)

void	setAccelerationScale (unsigned scale)

void	setDecelerationScale (unsigned scale)

void	setDriveStick (JoystickController &driveStick)

void	setGuestStick (JoystickController &guestStick)

float	getGuestSpeedModifier ()

void	setGuestSpeedModifier (float maxGuestSpeed)

void	setTargetSteering (TargetSteering *target)

bool	useThrottle ()

bool	useHardStop ()

bool	useLeftStick ()

bool	useRightStick ()

void	setUseThrottle (bool use)

void	setUseHardStop (bool use)

void	setUseLeftStick ()

void	setUseRightStick ()

virtual void	stop ()

JoystickController *	getActiveStick ()

virtual void	animate () override
	Dispatch any received i2c event to CommandEvent. More...

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 left, float right, float throttle)=0

virtual float	getThrottle ()

virtual bool	hasThrottle ()

virtual float	throttleSpeed (float speedModifier)

void	driveStick (JoystickController *stick, float speedModifier)

Protected Attributes
JoystickController &	fDriveStick

JoystickController *	fGuestStick

TargetSteering *	fTargetSteering

bool	fEnabled = false

bool	fWasConnected = false

bool	fMotorsStopped = false

bool	fChannelMixing = false

bool	fScaling = false

bool	fUseLeftStick = true

bool	fUseThrottle = true

bool	fUseHardStop = true

bool	fThrottleInverted = false

bool	fTurnInverted = false

float	fSpeedModifier = 0

float	fGuestSpeedModifier = 0

uint32_t	fSerialLatency = 0

uint32_t	fLastCommand = 0

unsigned	fThrottleAccelerationScale = 0

unsigned	fThrottleDecelerationScale = 0

unsigned	fTurnAccelerationScale = 0

unsigned	fTurnDecelerationScale = 0

float	fDriveThrottle = 0

float	fDriveTurning = 0

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...

Constructor & Destructor Documentation

◆ TankDrive()

TankDrive::TankDrive ( JoystickController & driveStick )

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 TankDrive::animate ( )

inlineoverridevirtual

Dispatch any received i2c event to CommandEvent.

Implements AnimatedEvent.

◆ driveStick()

void TankDrive::driveStick	(	JoystickController *	stick,
		float	speedModifier
	)

inlineprotected

◆ getActiveStick()

JoystickController* TankDrive::getActiveStick ( )

inline

◆ getChannelMixing()

bool TankDrive::getChannelMixing ( )

inline

◆ getEnable()

bool TankDrive::getEnable ( )

inline

◆ getGuestSpeedModifier()

float TankDrive::getGuestSpeedModifier ( )

inline

◆ getMaxSpeed()

float TankDrive::getMaxSpeed ( )

inline

◆ getScaling()

bool TankDrive::getScaling ( )

inline

◆ getSerialLatency()

uint32_t TankDrive::getSerialLatency ( )

inline

◆ getThrottle()

virtual float TankDrive::getThrottle ( )

inlineprotectedvirtual

◆ getThrottleAccelerationScale()

unsigned TankDrive::getThrottleAccelerationScale ( )

inline

◆ getThrottleDecelerationScale()

unsigned TankDrive::getThrottleDecelerationScale ( )

inline

◆ getThrottleInverted()

bool TankDrive::getThrottleInverted ( )

inline

◆ getTurnAccelerationScale()

unsigned TankDrive::getTurnAccelerationScale ( )

inline

◆ getTurnDecelerationScale()

unsigned TankDrive::getTurnDecelerationScale ( )

inline

◆ getTurnInverted()

bool TankDrive::getTurnInverted ( )

inline

◆ hasThrottle()

virtual bool TankDrive::hasThrottle ( )

inlineprotectedvirtual

Reimplemented in TankDriveRoboteq, and TankDrivePWM.

◆ motor()

virtual void TankDrive::motor	(	float	left,
		float	right,
		float	throttle
	)

protectedpure virtual

Implemented in TankDriveRoboteq, TankDrivePWM, TankDriveSerial, and TankDriveSabertooth.

◆ setAccelerationScale()

void TankDrive::setAccelerationScale ( unsigned scale )

inline

◆ setChannelMixing()

void TankDrive::setChannelMixing ( bool mixing )

inline

◆ setDecelerationScale()

void TankDrive::setDecelerationScale ( unsigned scale )

inline

◆ setDriveStick()

void TankDrive::setDriveStick ( JoystickController & driveStick )

inline

◆ setEnable()

void TankDrive::setEnable ( bool enable )

inline

◆ setGuestSpeedModifier()

void TankDrive::setGuestSpeedModifier ( float maxGuestSpeed )

inline

◆ setGuestStick()

void TankDrive::setGuestStick ( JoystickController & guestStick )

inline

◆ setMaxSpeed()

void TankDrive::setMaxSpeed ( float modifier )

inline

◆ setScaling()

void TankDrive::setScaling ( bool scaling )

inline

◆ setSerialLatency()

void TankDrive::setSerialLatency ( uint32_t ms )

inline

◆ setTargetSteering()

void TankDrive::setTargetSteering ( TargetSteering * target )

inline

◆ setThrottleAccelerationScale()

void TankDrive::setThrottleAccelerationScale ( unsigned scale )

inline

◆ setThrottleDecelerationScale()

void TankDrive::setThrottleDecelerationScale ( unsigned scale )

inline

◆ setThrottleInverted()

void TankDrive::setThrottleInverted ( bool invert )

inline

◆ setTurnAccelerationScale()

void TankDrive::setTurnAccelerationScale ( unsigned scale )

inline

◆ setTurnDecelerationScale()

void TankDrive::setTurnDecelerationScale ( unsigned scale )

inline

◆ setTurnInverted()

void TankDrive::setTurnInverted ( bool invert )

inline

◆ setup()

virtual void TankDrive::setup ( )

inlineoverridevirtual

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

Implements SetupEvent.

Reimplemented in TankDriveRoboteq, TankDrivePWM, TankDriveSabertooth, and TankDriveSerial.

◆ setUseHardStop()

void TankDrive::setUseHardStop ( bool use )

inline

◆ setUseLeftStick()

void TankDrive::setUseLeftStick ( )

inline

◆ setUseRightStick()

void TankDrive::setUseRightStick ( )

inline

◆ setUseThrottle()

void TankDrive::setUseThrottle ( bool use )

inline

◆ stop()

virtual void TankDrive::stop ( )

inlinevirtual

Reimplemented in TankDriveRoboteq, TankDrivePWM, TankDriveSabertooth, and TankDriveSerial.

◆ throttleSpeed()

virtual float TankDrive::throttleSpeed ( float speedModifier )

inlineprotectedvirtual

◆ useHardStop()

bool TankDrive::useHardStop ( )

inline

◆ useLeftStick()

bool TankDrive::useLeftStick ( )

inline

◆ useRightStick()

bool TankDrive::useRightStick ( )

inline

◆ useThrottle()

bool TankDrive::useThrottle ( )

inline

Member Data Documentation

◆ fChannelMixing

bool TankDrive::fChannelMixing = false

protected

◆ fDriveStick

JoystickController& TankDrive::fDriveStick

protected

◆ fDriveThrottle

float TankDrive::fDriveThrottle = 0

protected

◆ fDriveTurning

float TankDrive::fDriveTurning = 0

protected

◆ fEnabled

bool TankDrive::fEnabled = false

protected

◆ fGuestSpeedModifier

float TankDrive::fGuestSpeedModifier = 0

protected

◆ fGuestStick

JoystickController* TankDrive::fGuestStick

protected

◆ fLastCommand

uint32_t TankDrive::fLastCommand = 0

protected

◆ fMotorsStopped

bool TankDrive::fMotorsStopped = false

protected

◆ fScaling

bool TankDrive::fScaling = false

protected

◆ fSerialLatency

uint32_t TankDrive::fSerialLatency = 0

protected

◆ fSpeedModifier

float TankDrive::fSpeedModifier = 0

protected

◆ fTargetSteering

TargetSteering* TankDrive::fTargetSteering

protected

◆ fThrottleAccelerationScale

unsigned TankDrive::fThrottleAccelerationScale = 0

protected

◆ fThrottleDecelerationScale

unsigned TankDrive::fThrottleDecelerationScale = 0

protected

◆ fThrottleInverted

bool TankDrive::fThrottleInverted = false

protected

◆ fTurnAccelerationScale

unsigned TankDrive::fTurnAccelerationScale = 0

protected

◆ fTurnDecelerationScale

unsigned TankDrive::fTurnDecelerationScale = 0

protected

◆ fTurnInverted

bool TankDrive::fTurnInverted = false

protected

◆ fUseHardStop

bool TankDrive::fUseHardStop = true

protected

◆ fUseLeftStick

bool TankDrive::fUseLeftStick = true

protected

◆ fUseThrottle

bool TankDrive::fUseThrottle = true

protected

◆ fWasConnected

bool TankDrive::fWasConnected = false

protected

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

drive/TankDrive.h

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ TankDrive()

Member Function Documentation

◆ animate()

◆ driveStick()

◆ getActiveStick()

◆ getChannelMixing()

◆ getEnable()

◆ getGuestSpeedModifier()

◆ getMaxSpeed()

◆ getScaling()

◆ getSerialLatency()

◆ getThrottle()

◆ getThrottleAccelerationScale()

◆ getThrottleDecelerationScale()

◆ getThrottleInverted()

◆ getTurnAccelerationScale()

◆ getTurnDecelerationScale()

◆ getTurnInverted()

◆ hasThrottle()

◆ motor()

◆ setAccelerationScale()

◆ setChannelMixing()

◆ setDecelerationScale()

◆ setDriveStick()

◆ setEnable()

◆ setGuestSpeedModifier()

◆ setGuestStick()

◆ setMaxSpeed()

◆ setScaling()

◆ setSerialLatency()

◆ setTargetSteering()

◆ setThrottleAccelerationScale()

◆ setThrottleDecelerationScale()

◆ setThrottleInverted()

◆ setTurnAccelerationScale()

◆ setTurnDecelerationScale()

◆ setTurnInverted()

◆ setup()

◆ setUseHardStop()

◆ setUseLeftStick()

◆ setUseRightStick()

◆ setUseThrottle()

◆ stop()

◆ throttleSpeed()

◆ useHardStop()

◆ useLeftStick()

◆ useRightStick()

◆ useThrottle()

Member Data Documentation

◆ fChannelMixing

◆ fDriveStick

◆ fDriveThrottle

◆ fDriveTurning

◆ fEnabled

◆ fGuestSpeedModifier

◆ fGuestStick

◆ fLastCommand

◆ fMotorsStopped

◆ fScaling

◆ fSerialLatency

◆ fSpeedModifier

◆ fTargetSteering

◆ fThrottleAccelerationScale

◆ fThrottleDecelerationScale

◆ fThrottleInverted

◆ fTurnAccelerationScale

◆ fTurnDecelerationScale

◆ fTurnInverted

◆ fUseHardStop

◆ fUseLeftStick

◆ fUseThrottle

◆ fWasConnected