#include <drive/TankDriveRoboteq.h>

Inheritance diagram for TankDriveRoboteq:

Collaboration diagram for TankDriveRoboteq:

Public Member Functions
	TankDriveRoboteq (HardwareSerial &serial, JoystickController &driveStick)
	Constructor. More...

	TankDriveRoboteq (HardwareSerial &serial, ServoDispatch &dispatch, int leftNum, int rightNum, JoystickController &driveStick)
	Constructor. More...

	TankDriveRoboteq (HardwareSerial &serial, ServoDispatch &dispatch, int leftNum, int rightNum, int throttleNum, JoystickController &driveStick)
	Constructor. More...

	TankDriveRoboteq (ServoDispatch &dispatch, int leftNum, int rightNum, JoystickController &driveStick)
	Constructor. More...

	TankDriveRoboteq (ServoDispatch &dispatch, int leftNum, int 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

virtual bool	enterCommandMode ()

virtual void	leaveCommandMode ()

virtual bool	isCommandModeActive ()

virtual void	moveMillimeters (double mm, float speed=0.1)

virtual void	turnDegrees (double degrees, float speed=0.1)

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)

Public Member Functions inherited from TurtleDrive
double	getDroidDiameterMM ()

double	getWheelCircumferenceMM ()

double	getWheelTurnCount ()

double	getDroidCircumference ()

int	getMoveDistanceCount (double millimeters)

int	getTurnDistanceCount (double turnDegrees)

void	moveInches (double inches)

void	moveFeet (double feet)

void	moveMeters (double meters)

void	moveCentimeters (double meters)

Protected Member Functions
virtual void	motor (float left, float right, float throttle) override

virtual bool	hasThrottle () override

void	writeIntCmd (const char *cmd, int arg1)

void	writeIntCmd (const char *cmd, int arg1, int arg2)

void	write (const char *cmd)

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
HardwareSerial *	fSerial = NULL

ServoDispatch *	fDispatch = NULL

bool	fCommandMode = false

int	fLeft = -1

int	fRight = -1

int	fThrottle = -1

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

Protected Attributes inherited from TurtleDrive
double	fDroidDiameterMM = 558.8

double	fWheelCircumferenceMM = 381

double	fWheelTurnCount = 610

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

◆ TankDriveRoboteq() [1/5]

TankDriveRoboteq::TankDriveRoboteq	(	HardwareSerial &	serial,
		JoystickController &	driveStick
	)

inline

Constructor.

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

Parameters

port	the port number of this service

◆ TankDriveRoboteq() [2/5]

TankDriveRoboteq::TankDriveRoboteq	(	HardwareSerial &	serial,
		ServoDispatch &	dispatch,
		int	leftNum,
		int	rightNum,
		JoystickController &	driveStick
	)

inline

Constructor.

Will drive PWM pins

◆ TankDriveRoboteq() [3/5]

TankDriveRoboteq::TankDriveRoboteq	(	HardwareSerial &	serial,
		ServoDispatch &	dispatch,
		int	leftNum,
		int	rightNum,
		int	throttleNum,
		JoystickController &	driveStick
	)

inline

Constructor.

Will drive PWM pins

◆ TankDriveRoboteq() [4/5]

TankDriveRoboteq::TankDriveRoboteq	(	ServoDispatch &	dispatch,
		int	leftNum,
		int	rightNum,
		JoystickController &	driveStick
	)

inline

Constructor.

Will drive PWM pins

◆ TankDriveRoboteq() [5/5]

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

inline

Constructor.

Will drive PWM pins

Member Function Documentation

◆ enterCommandMode()

virtual bool TankDriveRoboteq::enterCommandMode ( )

inlinevirtual

Implements TurtleDrive.

◆ hasThrottle()

virtual bool TankDriveRoboteq::hasThrottle ( )

inlineoverrideprotectedvirtual

Reimplemented from TankDrive.

◆ isCommandModeActive()

virtual bool TankDriveRoboteq::isCommandModeActive ( )

inlinevirtual

Implements TurtleDrive.

◆ leaveCommandMode()

virtual void TankDriveRoboteq::leaveCommandMode ( )

inlinevirtual

Implements TurtleDrive.

◆ map()

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

inlinestaticprotected

◆ motor()

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

inlineoverrideprotectedvirtual

Implements TankDrive.

◆ moveMillimeters()

virtual void TankDriveRoboteq::moveMillimeters	(	double	mm,
		float	speed = `0.1`
	)

inlinevirtual

Implements TurtleDrive.

◆ setup()

virtual void TankDriveRoboteq::setup ( )

inlineoverridevirtual

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

Reimplemented from TankDrive.

◆ stop()

virtual void TankDriveRoboteq::stop ( )

inlineoverridevirtual

Reimplemented from TankDrive.

◆ turnDegrees()

virtual void TankDriveRoboteq::turnDegrees	(	double	degrees,
		float	speed = `0.1`
	)

inlinevirtual

Implements TurtleDrive.

◆ write()

void TankDriveRoboteq::write ( const char * cmd )

inlineprotected

◆ writeIntCmd() [1/2]

void TankDriveRoboteq::writeIntCmd	(	const char *	cmd,
		int	arg1
	)

inlineprotected

◆ writeIntCmd() [2/2]

void TankDriveRoboteq::writeIntCmd	(	const char *	cmd,
		int	arg1,
		int	arg2
	)

inlineprotected

Member Data Documentation

◆ fCommandMode

bool TankDriveRoboteq::fCommandMode = false

protected

◆ fDispatch

ServoDispatch* TankDriveRoboteq::fDispatch = NULL

protected

◆ fLeft

int TankDriveRoboteq::fLeft = -1

protected

◆ fRight

int TankDriveRoboteq::fRight = -1

protected

◆ fSerial

HardwareSerial* TankDriveRoboteq::fSerial = NULL

protected

◆ fThrottle

int TankDriveRoboteq::fThrottle = -1

protected

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

drive/TankDriveRoboteq.h

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ TankDriveRoboteq() [1/5]

◆ TankDriveRoboteq() [2/5]

◆ TankDriveRoboteq() [3/5]

◆ TankDriveRoboteq() [4/5]

◆ TankDriveRoboteq() [5/5]

Member Function Documentation

◆ enterCommandMode()

◆ hasThrottle()

◆ isCommandModeActive()

◆ leaveCommandMode()

◆ map()

◆ motor()

◆ moveMillimeters()

◆ setup()

◆ stop()

◆ turnDegrees()

◆ write()

◆ writeIntCmd() [1/2]

◆ writeIntCmd() [2/2]

Member Data Documentation

◆ fCommandMode

◆ fDispatch

◆ fLeft

◆ fRight

◆ fSerial

◆ fThrottle