#include <drive/TankDriveSerial.h>

Detailed Description

Base template of automatic forwarder from i2c to CommandEvent.

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

Inheritance diagram for TankDriveSerial:

Collaboration diagram for TankDriveSerial:

Public Member Functions
	TankDriveSerial (Stream &stream, 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

void	printNumZeroPad (unsigned num)

Protected Member Functions inherited from TankDrive
virtual float	getThrottle ()

virtual bool	hasThrottle ()

virtual float	throttleSpeed (float speedModifier)

void	driveStick (JoystickController *stick, float speedModifier)

Protected Attributes
Stream *	fSerial

bool	fStopped

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

◆ TankDriveSerial()

TankDriveSerial::TankDriveSerial	(	Stream &	stream,
		JoystickController &	driveStick
	)

inline

Constructor.

Will drive PWM pins

Member Function Documentation

◆ motor()

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

inlineoverrideprotectedvirtual

Implements TankDrive.

◆ printNumZeroPad()

void TankDriveSerial::printNumZeroPad ( unsigned num )

inlineprotected

◆ setup()

virtual void TankDriveSerial::setup ( )

inlineoverridevirtual

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

Reimplemented from TankDrive.

◆ stop()

virtual void TankDriveSerial::stop ( )

inlineoverridevirtual

Reimplemented from TankDrive.

Member Data Documentation

◆ fSerial

Stream* TankDriveSerial::fSerial

protected

◆ fStopped

bool TankDriveSerial::fStopped