Inheritance diagram for Mrm_ref_can:

Public Member Functions
	Mrm_ref_can (Robot *robot=NULL, uint8_t maxNumberOfBoards=4)

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

bool	any (bool dark=true, uint8_t deviceNumber=0, uint8_t fistTransistor=0, uint8_t lastTransistor=0xFF)

void	calibrate (uint8_t deviceNumber=0xFF)

uint16_t	calibrationDataGet (uint8_t receiverNumberInSensor, bool isDark, uint8_t deviceNumber=0)

void	calibrationPrint ()

void	calibrationDataRequest (uint8_t deviceNumber=0, bool waitForResult=false)

uint16_t	center (uint8_t deviceNumber=0, bool ofDark=true)

bool	dark (uint8_t receiverNumberInSensor, uint8_t deviceNumber=0, bool fromAnalog=false)

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

uint16_t	reading (uint8_t receiverNumberInSensor, uint8_t deviceNumber=0)

void	readingsPrint ()

void	test (bool analog)

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_ref_can()

Mrm_ref_can::Mrm_ref_can	(	Robot *	robot = `NULL`,
		uint8_t	maxNumberOfBoards = `4`
	)

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

Member Function Documentation

◆ add()

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

Add a mrm-ref-can sensor

Parameters

deviceName - device's name

◆ any()

bool Mrm_ref_can::any	(	bool	dark = `true`,
		uint8_t	deviceNumber = `0`,
		uint8_t	fistTransistor = `0`,
		uint8_t	lastTransistor = `0xFF`
	)

Any dark or bright

Parameters

dark	- any dark? Otherwise, any bright?
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
firstTransistor	- start checking from this transistor
lastTransistor	- do not check after this one

◆ calibrate()

void Mrm_ref_can::calibrate ( uint8_t deviceNumber = 0xFF )

Calibrate the array

Parameters

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

◆ calibrationDataGet()

uint16_t Mrm_ref_can::calibrationDataGet	(	uint8_t	receiverNumberInSensor,
		bool	isDark,
		uint8_t	deviceNumber = `0`
	)

Get local calibration data

Parameters

receiverNumberInSensor	- single IR transistor in mrm-ref-can
isDark	- if true calibration for dark, otherwise for bright
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - analog value

◆ calibrationDataRequest()

void Mrm_ref_can::calibrationDataRequest	(	uint8_t	deviceNumber = `0`,
		bool	waitForResult = `false`
	)

Request sensor to send calibration data

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - calibrate all sensors.
waitForResult	- Blocks program flow till results return.

Request sensor to send calibration data

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all sensors.
waitForResult	- Blocks program flow till results return.

◆ calibrationPrint()

void Mrm_ref_can::calibrationPrint ( )

Print all calibration data in a line

Print all calibration in a line

◆ center()

uint16_t Mrm_ref_can::center	(	uint8_t	deviceNumber = `0`,
		bool	ofDark = `true`
	)

Center of measurements, like center of the line

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - calibrate all sensors.
ofDark	- center of dark. Otherwise center of bright.

Returns: - 1000 - 9000. 1000 means center exactly under first phototransistor (denoted with "1" on the printed circuit board), 5000 is center transistor.

◆ dark()

bool Mrm_ref_can::dark	(	uint8_t	receiverNumberInSensor,
		uint8_t	deviceNumber = `0`,
		bool	fromAnalog = `false`
	)

Dark?

Parameters

receiverNumberInSensor	- single IR transistor in mrm-ref-can
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
fromAnalog	- from analog local values. If not, sensor-supplied center data.

Returns: - yes or no.

◆ messageDecode()

bool Mrm_ref_can::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.

Read CAN Bus message into local variables

Parameters

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

Returns: - target device found

Reimplemented from SensorBoard.

◆ reading()

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

Analog readings

Parameters

receiverNumberInSensor	- single IR transistor in mrm-ref-can
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_ref_can::readingsPrint ( )

Print all readings in a line

Print all analog readings in a line

◆ test()

void Mrm_ref_can::test ( bool analog )

Test

Parameters

analog - if true, analog values - if not, digital values.

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

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

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Mrm_ref_can()

Member Function Documentation

◆ add()

◆ any()

◆ calibrate()

◆ calibrationDataGet()

◆ calibrationDataRequest()

◆ calibrationPrint()

◆ center()

◆ dark()

◆ messageDecode()

◆ reading()

◆ readingsPrint()

◆ test()