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Public Member Functions |
| | Motion_Driver (IOLINE Pencoder, IOLINE Sencoder, IOLINE f, PORT ifp, IOLINE tpu, IOLINE Pencoder, IOLINE Sencoder, IOLINE rf, PORT rfp, IOLINE rtpu, uint8 subclass=0) |
| | Quadrature encoding, sign magnitude (A/B toggling).
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| void | abort (bool icancel=true) |
| | Stops robot, and aborts any previously programmed paths if cancel is true (default).
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| bool | target (void) |
| | Return whether robot position is at the preprogrammed final target.
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| bool | waypoint (void) |
| | Return whether robot position is at one of the preprogrammed waypoints.
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| void | relaunch (void) |
| | Continue preprogrammed path.
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| void | launch (motion_chain *const path) |
| | Begin new preprogrammed course.
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| void | acquire_targets (motion_chain *const _target) |
| | Set new target location for robot to travel. Does not automatically start; call launch to begin.
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| LAUNCH | get_launch (void) |
| short | destx () |
| short | desty () |
| void | travel (MOTION idir, ENCODER_TYPE s, ENCODER_TYPE radius, FIXED_RADIAN idirection, FIXED_RADIAN c) |
| | Method to travel a fraction of a circular arc, c (radians) with given circle radius.
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| void | travel (MOTION idir, ENCODER_TYPE EU_s, const point &P2, FIXED_RADIAN Fidirection) |
| | travel Forward Only form #1 (point)
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| void | travel (MOTION idir, ENCODER_TYPE EU_s, MILLIMETER idistance) |
| | travel Forward form #2 (millimeter--Quick move short cut)
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| void | travel (MOTION idir) |
| | STOP Only form of travel.
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| void | travel (MOTION idir, SPEED speed, const point &P1, const point &P2, int weight) |
| | Segment Driver form Method to travel based upon 2 points and a third control point with weighting (segment driver).
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| void | travel (MOTION idir, SPEED s, MILLIMETER radius, DEGREE idirection, RADIAN c=1.570796) |
| | Method to travel a fraction of a circular arc, c (radians) with given circle radius.
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| void | travel (MOTION idir, SPEED speed, const point &P1, const point &P2, int weight) |
| | Method to travel based upon 2 points and a third control point with weighting (segment driver).
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| void | heading (ENCODER_TYPE s, FIXED_RADIAN destination) |
| | Given desired orientation and speed, automatically turn to proper orientation at that speed. Method automatically calculates whether it should turn left or right based upon current orientation and new orientation.
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| void | heading (SPEED s, DEGREE destination) |
| | Given desired orientation and speed, automatically turn to proper orientation at that speed. Method automatically calculates whether it should turn left or right based upon current orientation and new orientation.
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| void | keep_straight (void) |
| | function to maintain position on course between inital and final positions given its present location.
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| void | keep_straight (void) |
| | function to maintain position on course between inital and final positions given its present location.
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| int | offset (void) |
| | How much we deviate from where we should be.
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| int | offset (void) |
| | How much we deviate from where we should be.
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| DEGREE | face (void) |
| | Return current facing (degrees).
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| DEGREE | face (void) |
| | Return current facing (degrees).
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| void | linear_path (int &, int &, oPID &, bool &, bool &) |
| | control function to maintain a straight line.
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| void | linear_path (int &, int &, oPID &, bool &, bool &) |
| | control function to maintain a straight line.
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| bool | complete () |
| | Returns true if path is complete.
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| bool | complete () |
| | Returns true if path is complete.
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| void | control_points (const point &p1, const point &p2) |
| | Currently, p1 is current location and p2 is destination (used in PID).
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| POSITION | distance (void) |
| SPEED | get_actual_speed (void) |
| POSITION | x0 () |
| POSITION | y0 () |
| POSITION | current_distance () |
| RADIAN | get_stop (void) |
| SPEED | get_global_speed (void) |
| void | WSwrite (void) |
| void | initial_heading (POSITION, POSITION, DEGREE) |
| | Sets the initial orientation of the robot (should be done before anything).
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| void | segment_path (int &dx, int &dy, oPID &pid, bool &lpower, bool &rpower) |
| void | circular_path (int &, int &, oPID &, bool &, bool &) |
| | Control function to maintain a circular path.
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| POSITION | centerx () |
| POSITION | centery () |
| void | Rpower (int p) |
| | // Set wrench effort to right motor. Percent to increase/decrease motor's power.
int: +/- percentage increase or decrease in power.
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| void | Lpower (int p) |
| | Set wrench effort to left motor. Percent to increase/decrease motor's power.
int: +/- percentage increase or decrease in power.
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| void | stop (int s=0) |
| | Stops both motors.
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| void | primitive_motion (MOTION m, MILLIMETER s, bool ramp) |
| | Execute basic motions like forward, and rotate left or right.
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| uint8 | status (void) |
| | Returns the current state of the top level component.
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| void | status (uint8 s) |
| | Set the status of the component.
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Static Public Member Functions |
| int32 | sDestx (void) |
| | Returns shared value of x destination coordinate.
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| int32 | sDesty (void) |
| | Returns shared value of y destination coordinate.
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| LAUNCH | sLaunch (void) |
| | Returns shared value of launch.
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| MILLIMETER | distance (void) |
| | If oSchedule period has changed, then be sure to call this: Geometry_Driver::syncronize();.
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| MILLIMETER | get_actual_speed (void) |
| MILLIMETER | x0 () |
| MILLIMETER | y0 () |
| MILLIMETER | current_distance () |
| RADIAN | get_stop (void) |
| MILLIMETER | get_global_speed (void) |
| void | syncronize (void) |
| | If oSchedule period has changed, then be sure to call this: Geometry_Driver::syncronize();.
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| void | teleoperate (bool b) |
| bool | teleoperate (void) |
Data Fields |
| int | Label |
| Fl_Value_Output * | Distance |
| Fl_Value_Output * | Current_Distance |
| Fl_Value_Output * | Speed |
| Fl_Value_Output * | EM2_Speed |
| Fl_Value_Output * | X |
| Fl_Value_Output * | Y |
| Fl_Value_Output * | Angle |
| Fl_Value_Output * | X0 |
| Fl_Value_Output * | Y0 |
| Fl_Light_Button * | Operate |
| Fl_Value_Output * | Stop |
| Fl_Output * | Motion |
| Fl_Choice * | FL_unit |
| Fl_Value_Input * | FL_mapunit |
| oEncodedMotor | _Lmotor |
| | Unfortunately, a lot of algorithms need access to changing the speed of the individual motors.
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| oEncodedMotor | _Rmotor |
Static Public Attributes |
| Watchdog | watchdog |
| | Provides primitive mechanism to auto-shutoff primitive driver for safety reasons.
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Protected Member Functions |
| | Motion_Driver (void) |
Static Protected Member Functions |
| foo2 | callback (void) |
Protected Attributes |
| LAUNCH | _launch |
| ENCODER_TYPE | EU_distance |
| FIXED_RADIAN | F_STOP |
| bool | _complete |
| ENCODER_TYPE | EU_global_speed |
| MILLIMETER | MM_current_distance |
| point | _p1 |
| point | _p2 |
| float | _weight |
| FIXED_METER | FM_offset |
| ENCODER_TYPE | EU_centerx |
| ENCODER_TYPE | EU_centery |
| ENCODER_TYPE | EU_distance2go |
| FIXED_RADIAN | F_Tradian |
| ENCODER_TYPE | EU_x0 |
| ENCODER_TYPE | EU_y0 |
| MILLIMETER | _distance2go |
| int | _distance |
| DEGREE | _Tdegree |
| POSITION | _x0 |
| POSITION | _y0 |
| POWER | _wrench_effort |
| uint8 | _status |
| jaus_message | PD_msg |
Static Protected Attributes |
| bool | _teleoperate |
Private Member Functions |
| void | get_dest (void) |
Private Attributes |
| motion_chain * | _target |
| short | _ptop |
| short | MM_destx |
| short | MM_desty |
| int | EU_optidestx |
| int | EU_optidesty |
| bool | _waypoint |
| int | _dest_index |
| bool | _reset |
Friends |
| void | task_motion_driver (void *) |
| void | task_local_vector_driver (void *) |
| void | task_local_vector_driver (void) |
| class | Geometry_Driver |
| void | task_keep_straight (void) |
| void | task_motion_driver (void) |
| class | Motion_Driver |
1.3