Inheritance diagram for MotorBoard:

Public Member Functions
	MotorBoard (Robot robot, uint8_t devicesOnABoard, const char boardName, uint8_t maxNumberOfBoards, BoardId id)

void	directionChange (uint8_t deviceNumber)

bool	messageDecode (uint32_t canId, uint8_t data[8])

uint16_t	reading (uint8_t deviceNumber)

void	readingsPrint ()

void	speedSet (uint8_t motorNumber, int8_t speed)

void	stop ()

void	test (uint8_t deviceNumber=0xFF, uint16_t betweenTestsMs=0)

Public Member Functions inherited from Board
	Board (Robot robot, uint8_t maxNumberOfBoards, uint8_t devicesOnABoard, const char boardName, BoardType boardType, BoardId id)

void	add (char *deviceName, uint16_t canIn, uint16_t canOut)

bool	alive (uint8_t deviceNumber=0, bool checkAgainIfDead=false, bool errorIfNotAfterCheckingAgain=false)

uint8_t	count ()

void	aliveSet (bool yesOrNo, uint8_t deviceNumber=0)

BoardType	boardType ()

uint8_t	deadOrAliveCount ()

uint8_t	devicesOnASingleBoard ()

uint8_t	devicesMaximumNumberInAllBoards ()

uint8_t	devicesScan (bool verbose=true, uint16_t mask=0xFFFF)

uint8_t	errorCodeLast ()

uint8_t	errorWasInDeviceNumber ()

void	firmwareRequest (uint8_t deviceNumber=0xFF)

uint16_t	fps (uint8_t deviceNumber=0)

void	fpsDisplay ()

void	fpsRequest (uint8_t deviceNumber=0xFF)

BoardId	id ()

void	idChange (uint16_t newDeviceNumber, uint8_t deviceNumber=0)

void	info (uint8_t deviceNumber=0xFF)

bool	isForMe (uint32_t canIdOut, uint8_t deviceNumber)

bool	isFromMe (uint32_t canIdOut, uint8_t deviceNumber)

uint32_t	lastMessageMs (uint8_t deviceNumber=0)

bool	messagePrint (uint32_t msgId, uint8_t dlc, uint8_t *data, bool outbound)
	‍** Prints a frame More...

void	messageSend (uint8_t *data, uint8_t dlc, uint8_t deviceNumber=0)

char *	name (uint8_t deviceNumber)

char *	name ()

void	notificationRequest (uint8_t commandRequestingNotification, uint8_t deviceNumber)

void	oscillatorTest (uint8_t deviceNumber=0xFF)

void	reset (uint8_t deviceNumber=0xFF)

void	start (uint8_t deviceNumber=0xFF, uint8_t measuringModeNow=0, uint16_t refreshMs=0)

void	swap (uint8_t deviceNumber1, uint8_t deviceNumber2)

void	stop (uint8_t deviceNumber=0xFF)

Protected Attributes
std::vector< uint32_t > *	encoderCount

std::vector< bool > *	reversed

std::vector< int8_t > *	lastSpeed

Protected Attributes inherited from Board
uint32_t	_alive

bool	_aliveReport = false

char	_boardsName [12]

BoardType	_boardType

uint8_t	canData [8]

uint8_t	devicesOnABoard

uint8_t	errorCode = 0

uint8_t	errorInDeviceNumber = 0

std::vector< uint16_t > *	fpsLast

BoardId	_id

std::vector< uint32_t > *	idIn

std::vector< uint32_t > *	idOut

std::vector< uint32_t > *	lastMessageReceivedMs

std::vector< uint32_t > *	_lastReadingMs

uint8_t	maximumNumberOfBoards

uint8_t	measuringMode = 0

uint8_t	measuringModeLimit = 0

uint8_t	_message [29]

std::vector< char[10]> *	_name

int	nextFree

Robot *	robotContainer

Additional Inherited Members
Protected Member Functions inherited from Board
bool	messageDecodeCommon (uint32_t canId, uint8_t data[8], uint8_t deviceNumber=0)

Constructor & Destructor Documentation

◆ MotorBoard()

MotorBoard::MotorBoard	(	Robot *	robot,
		uint8_t	devicesOnABoard,
		const char *	boardName,
		uint8_t	maxNumberOfBoards,
		BoardId	id
	)

Parameters

robot	- robot containing this board
esp32CANBusSingleton	- a single instance of CAN Bus common library for all CAN Bus peripherals.
devicesOnABoard	- number of devices on each board
boardName	- board's name
maxNumberOfBoards	- maximum number of boards
id	- unique id
robot	- robot containing this board
devicesOnABoard	- number of devices on each board
boardName	- board's name
maxNumberOfBoards	- maximum number of boards
id	- unique id

Member Function Documentation

◆ directionChange()

void MotorBoard::directionChange ( uint8_t deviceNumber )

Changes rotation's direction

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ messageDecode()

bool MotorBoard::messageDecode	(	uint32_t	canId,
		uint8_t	data[8]
	)

virtual

Read CAN Bus message into local variables

Parameters

canId	- CAN Bus id
data	- 8 bytes from CAN Bus message.

Returns: - true if canId for this class

Implements Board.

◆ reading()

uint16_t MotorBoard::reading ( uint8_t deviceNumber )

Encoder readings

Parameters

deviceNumber - Devices's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - encoder value

◆ readingsPrint()

void MotorBoard::readingsPrint ( )

Print all readings in a line

◆ speedSet()

void MotorBoard::speedSet	(	uint8_t	motorNumber,
		int8_t	speed
	)

Motor speed

Parameters

motorNumber	- motor's number
speed	- in range -127 to 127

◆ stop()

void MotorBoard::stop ( )

Stop all motors

◆ test()

void MotorBoard::test	(	uint8_t	deviceNumber = `0xFF`,
		uint16_t	betweenTestsMs = `0`
	)

virtual

Test

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all devices.
betweenTestsMs	- time in ms between 2 tests. 0 - default.

Reimplemented from Board.

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

C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-board/src/mrm-board.h
C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-board/src/mrm-board.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ MotorBoard()

Member Function Documentation

◆ directionChange()

◆ messageDecode()

◆ reading()

◆ readingsPrint()

◆ speedSet()

◆ stop()

◆ test()