#include <drive/TankDrivePWM.h>

Detailed Description

Base template of automatic forwarder from i2c to CommandEvent.

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

Inheritance diagram for TankDrivePWM:

Collaboration diagram for TankDrivePWM:

Public Member Functions
	TankDrivePWM (ServoDispatch &dispatch, uint8_t leftNum, uint8_t rightNum, JoystickController &driveStick)
	Constructor. More...

	TankDrivePWM (ServoDispatch &dispatch, uint8_t leftNum, uint8_t rightNum, int throttleNum, 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...

virtual void	stop () override

Public Member Functions inherited from TankDrive
	TankDrive (JoystickController &driveStick)
	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 ()

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) override

virtual bool	hasThrottle () override

Protected Member Functions inherited from TankDrive
virtual float	getThrottle ()

virtual float	throttleSpeed (float speedModifier)

void	driveStick (JoystickController *stick, float speedModifier)

Static Protected Member Functions
static float	map (float x, float in_min, float in_max, float out_min, float out_max)

Protected Attributes
ServoDispatch &	fDispatch

uint8_t	fLeft

uint8_t	fRight

int	fThrottle

Protected Attributes inherited from TankDrive
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

◆ TankDrivePWM() [1/2]

TankDrivePWM::TankDrivePWM	(	ServoDispatch &	dispatch,
		uint8_t	leftNum,
		uint8_t	rightNum,
		JoystickController &	driveStick
	)

inline

Constructor.

Will drive PWM pins

◆ TankDrivePWM() [2/2]

TankDrivePWM::TankDrivePWM	(	ServoDispatch &	dispatch,
		uint8_t	leftNum,
		uint8_t	rightNum,
		int	throttleNum,
		JoystickController &	driveStick
	)

inline

Constructor.

Will drive PWM pins

Member Function Documentation

◆ hasThrottle()

virtual bool TankDrivePWM::hasThrottle ( )

inlineoverrideprotectedvirtual

Reimplemented from TankDrive.

◆ map()

static float TankDrivePWM::map	(	float	x,
		float	in_min,
		float	in_max,
		float	out_min,
		float	out_max
	)

inlinestaticprotected

◆ motor()

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

inlineoverrideprotectedvirtual

Implements TankDrive.

◆ setup()

virtual void TankDrivePWM::setup ( )

inlineoverridevirtual

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

Reimplemented from TankDrive.

◆ stop()

virtual void TankDrivePWM::stop ( )

inlineoverridevirtual

Reimplemented from TankDrive.

Member Data Documentation

◆ fDispatch

ServoDispatch& TankDrivePWM::fDispatch

protected

◆ fLeft

uint8_t TankDrivePWM::fLeft

protected

◆ fRight

uint8_t TankDrivePWM::fRight

protected

◆ fThrottle

int TankDrivePWM::fThrottle

protected

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

drive/TankDrivePWM.h

Detailed Description

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ TankDrivePWM() [1/2]

◆ TankDrivePWM() [2/2]

Member Function Documentation

◆ hasThrottle()

◆ map()

◆ motor()

◆ setup()

◆ stop()

Member Data Documentation

◆ fDispatch

◆ fLeft

◆ fRight

◆ fThrottle