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GB_base Class Reference

A class to locate an Gameboy Camera on a robot. More...

#include <gb_base.h>

Inheritance diagram for GB_base:

Public Member Functions
	GB_base (short, DEGREE, DEGREE, IOLINE, PORT, IOLINE, IOLINE, IOLINE, IOLINE, IOLINE, IOLINE)
void	scanner (oServo *s)
	Provide a servo for a scanner type sensor mount.
bool	scanner (void)
	Returns wether base is a scanner type or fixed.
void	angle (DEGREE d)
	Sets the angle that the base is facing relative to _face; i.e., if mounted 20 degrees from center, then 0 is 20 degrees from center. If defined with a servo, then will turn the base to that direction.
DEGREE	angle (void)
	return angle at which scanner is pointed relative to local center (_face).
FIXED_RADIAN	bearing (void)
	Returns current facing of sensor taking into account scanner rotation (FIXED).
int	maximum_sensor_range (void)
	Returns the maximum sensor range in millimetres.
void	maximum_sensor_range (int msr)
	Set the maximum range of the sensor.
bool	locked (void)
	Returns whether the sensor is locked.
void	locked (bool l)
short	value (void)
	Provide emulated value. Distance from object in millimeterss.
Data Fields
int	_DFC
	Distance from center of platform (MILLIMETERS).
FIXED_RADIAN	F_face
	where the IR is facing 0 is forward + is counterclock-wise.
FIXED_RADIAN	F_orient
	Position (radians) around the robot from defined center position (0=forward).
Protected Attributes
oServo *	_servo
FIXED_RADIAN	F_bearing
int	_maximum_sensor_range
bool	_locked

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Detailed Description

A class to locate an Gameboy Camera on a robot.

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Constructor & Destructor Documentation

GB_base (  short  , DEGREE  , DEGREE  , IOLINE  , PORT  , IOLINE  , IOLINE  , IOLINE  , IOLINE  , IOLINE  , IOLINE  )

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Member Function Documentation

DEGREE angle (  void   )  [inherited]

return angle at which scanner is pointed relative to local center (_face).

void angle (  DEGREE  d  )  [inherited]

Sets the angle that the base is facing relative to _face; i.e., if mounted 20 degrees from center, then 0 is 20 degrees from center. If defined with a servo, then will turn the base to that direction.

FIXED_RADIAN bearing (  void   )  [inherited]

Returns current facing of sensor taking into account scanner rotation (FIXED). bearing is Absolute direction of sensor with respect to robot's forward as 0 degrees; it incorporates the facing of sensor. To get the bearing with respect to the world system, you must add the robot's current heading; i.e., bearing() + angle()

void locked (  bool  l  )  [inherited]

bool locked (  void   )  [inherited]

Returns whether the sensor is locked. This is a locking mechanism if you wish to allocate a sensor for a private use and cannot be allocated by another call to Object_List::bearing until it is unlocked.

void maximum_sensor_range (  int  msr  )  [inherited]

Set the maximum range of the sensor.

int maximum_sensor_range (  void   )  [inherited]

Returns the maximum sensor range in millimetres. maximum sensor_range declared below so it can be initialized low level, but returns a low level so a generic <sensor_base*> can access maximum sensor range without knowing its type.

bool scanner (  void   )  [inherited]

Returns wether base is a scanner type or fixed.

void scanner (  oServo *  s  )  [inherited]

Provide a servo for a scanner type sensor mount.

short value (  void   )  [inherited]

Provide emulated value. Distance from object in millimeterss. Reimplemented in IR_base, and sonar_base.

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Field Documentation

int _DFC [inherited]

Distance from center of platform (MILLIMETERS).

bool _locked [protected, inherited]

int _maximum_sensor_range [protected, inherited]

oServo* _servo [protected, inherited]

FIXED_RADIAN F_bearing [protected, inherited]

FIXED_RADIAN F_face [inherited]

where the IR is facing 0 is forward + is counterclock-wise.

FIXED_RADIAN F_orient [inherited]

Position (radians) around the robot from defined center position (0=forward). To put it another way, this is where the sensor is mounted whereas face is which way IR beam is directed; no necessarily related.

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