Inheritance diagram for Mrm_ir_finder3:

Public Member Functions
	Mrm_ir_finder3 (Robot *robot=0, uint8_t maxNumberOfBoards=1)

void	add (char deviceName=(char )"")

int16_t	angle (uint8_t deviceNumber=0)

uint16_t	distance (uint8_t deviceNumber=0)

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

uint16_t	reading (uint8_t receiverNumberInSensor, uint8_t deviceNumber=0)

void	readingsPrint ()

void	test ()

void	testCalculated ()

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

void	continuousReadingCalculatedDataStart (uint8_t deviceNumber=0xFF)

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)

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

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

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

Constructor & Destructor Documentation

◆ Mrm_ir_finder3()

Mrm_ir_finder3::Mrm_ir_finder3	(	Robot *	robot = `0`,
		uint8_t	maxNumberOfBoards = `1`
	)

Constructor

Parameters

robot	- robot containing this board
esp32CANBusSingleton	- a single instance of CAN Bus common library for all CAN Bus peripherals.
hardwareSerial	- Serial, Serial1, Serial2,... - an optional serial port, for example for Bluetooth communication
maxNumberOfBoards	- maximum number of boards

Constructor

Parameters

robot	- robot containing this board
maxNumberOfBoards	- maximum number of boards

Member Function Documentation

◆ add()

void Mrm_ir_finder3::add ( char * deviceName = (char*)"" )

Add a mrm-ir-finder3 sensor

Parameters

deviceName - device's name

◆ angle()

int16_t Mrm_ir_finder3::angle ( uint8_t deviceNumber = 0 )

Ball's direction

Parameters

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

Returns: - robot's front is 0�, positive angles clockwise, negative anti-clockwise. Back of the robot is 180�.

◆ distance()

uint16_t Mrm_ir_finder3::distance ( uint8_t deviceNumber = 0 )

Ball's distance

Parameters

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

Returns: - this is analog value that represents infrared light intensity, so not directly distance, but the distance can be inferred. When ball is quite close, expect values up to about 3000. At about 1 m is the boundary between 2 zones so the value will drop sharply as long-dinstance sensors engage. When 0 is return, there is no ball in sight.

Ball's distance

Returns: - this is analog value that represents infrared light intensity, so not directly distance, but the distance can be inferred. When ball is quite close, expect values up to about 3000. At about 1 m is the boundary between 2 zones so the value will drop sharply as long-dinstance sensors engage. When 0 is return, there is no ball in sight.

◆ messageDecode()

bool Mrm_ir_finder3::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.

Reimplemented from SensorBoard.

◆ reading()

uint16_t Mrm_ir_finder3::reading	(	uint8_t	receiverNumberInSensor,
		uint8_t	deviceNumber = `0`
	)

Cumulative readings

Parameters

receiverNumberInSensor	- single IR receiver in mrm-ir-finder3
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - cumulative value

Analog readings

Parameters

receiverNumberInSensor	- single IR receiver in mrm-ir-finder3
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - analog value

◆ readingsPrint()

void Mrm_ir_finder3::readingsPrint ( )

Print all readings in a line

◆ test()

void Mrm_ir_finder3::test ( )

Test

◆ testCalculated()

void Mrm_ir_finder3::testCalculated ( )

Test

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

C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-ir-finder3/src/mrm-ir-finder3.h
C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-ir-finder3/src/mrm-ir-finder3.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Mrm_ir_finder3()

Member Function Documentation

◆ add()

◆ angle()

◆ distance()

◆ messageDecode()

◆ reading()

◆ readingsPrint()

◆ test()

◆ testCalculated()