Robot Class Reference

#include <mrm-robot.h>

Inheritance diagram for Robot:

Public Member Functions
	Robot (char name[15]=(char *)"MRMS robot", char ssid[15]=(char *)"MRMS", char wiFiPassword[15]=(char *)"mrms")
void	actionAdd (ActionBase *action)
void	actionEnd ()
bool	actionPreprocessing (bool andFinish=true)
void	actionPreprocessingEnd ()
void	add (Board *aBoard)
virtual void	bitmapsSet ()=0
void	blink ()
void	bluetoothTest ()
void	end ()
void	canBusSniffToggle ()
void	canIdChange ()
void	colorIlluminationOff ()
void	colorIlluminationOn ()
void	colorPatternErase ()
void	colorPatternPrint ()
void	colorPatternRecognize ()
void	colorPatternRecord ()
void	delayMs (uint16_t pauseMs)
void	delayMicros (uint16_t pauseMicros)
uint8_t	devicesScan (bool verbose)
void	devicesStart (uint8_t measuringMode=0)
void	devicesStop ()
void	errors ()
void	firmwarePrint ()
float	fpsGet ()
void	fpsPrint ()
virtual void	goAhead ()=0
void	i2cTest ()
void	info ()
void	irFinder3Test ()
void	irFinder3TestCalculated ()
void	lidar2mTest ()
void	lidar4mTest ()
void	lidarCalibrate ()
virtual void	loop ()=0
void	menu ()
void	menuColor ()
void	menuMainAndIdle ()
void	menuReflectance ()
void	menuSystem ()
void	messagePrint (CANBusMessage *msg, bool outbound)
void	messagesReceive ()
void	motorTest ()
void	nodeTest ()
void	noLoopWithoutThis ()
void	oscillatorTest ()
void	reflectanceArrayCalibrationPrint ()
void	run ()
uint16_t	serialReadNumber (uint16_t timeoutFirst=3000, uint16_t timeoutBetween=500, bool onlySingleDigitInput=false, uint16_t limit=0xFFFE, bool printWarnings=true)
void	servoInteractive ()
bool	setup (bool andFinish=true)
bool	sniffing ()
void	stopAll ()
bool	stressTest ()
void	thermoTest ()
bool	userBreak ()
void	verboseToggle ()

Public Attributes
Mrm_can_bus *	mrm_can_bus
Mrm_8x8a *	mrm_8x8a
Mrm_bldc2x50 *	mrm_bldc2x50
Mrm_bldc4x2_5 *	mrm_bldc4x2_5
Mrm_col_b *	mrm_col_b
Mrm_col_can *	mrm_col_can
Mrm_fet_can *	mrm_fet_can
Mrm_imu *	mrm_imu
Mrm_ir_finder3 *	mrm_ir_finder3
Mrm_lid_can_b *	mrm_lid_can_b
Mrm_lid_can_b2 *	mrm_lid_can_b2
Mrm_mot2x50 *	mrm_mot2x50
Mrm_mot4x3_6can *	mrm_mot4x3_6can
Mrm_mot4x10 *	mrm_mot4x10
Mrm_node *	mrm_node
Mrm_ref_can *	mrm_ref_can
Mrm_servo *	mrm_servo
Mrm_switch *	mrm_switch
Mrm_therm_b_can *	mrm_therm_b_can
Mrm_us_b *	mrm_us_b
Mrm_us1 *	mrm_us1

Protected Member Functions
void	actionProcess ()
void	actionSet ()
void	actionSet (ActionBase *newAction)
uint8_t	boardsDisplayAll ()
bool	boardDisplayAndSelect (uint8_t *selectedBoardIndex, uint8_t *selectedDeviceIndex, uint8_t *maxInput, uint8_t *lastBoardAndIndex)
bool	boardSelect (uint8_t selectedNumber, uint8_t *selectedBoardIndex, uint8_t *selectedDeviceIndex, uint8_t *maxInput)
void	fpsPause ()
void	fpsUpdate ()
void	fpsReset ()
void	verbosePrint ()
void	vprint (const char *fmt, va_list argp)

Protected Attributes
ActionBase *	_action [ACTIONS_LIMIT]
uint8_t	_actionNextFree = 0
ActionBase *	_actionCANBusStress
ActionBase *	_actionCurrent
ActionBase *	_actionDoNothing
ActionBase *	_actionLoop
ActionBase *	_actionMenuMain
ActionBase *	_actionPrevious
ActionBase *	_actionStop
Board *	board [BOARDS_LIMIT]
uint8_t	_boardNextFree = 0
uint8_t	_devicesAtStartup = 0
bool	_devicesScanBeforeMenu = true
uint32_t	fpsMs [2] = { 0, 0 }
uint8_t	fpsNextIndex = 0
uint32_t	fpsTopGap = 0
uint8_t	menuLevel = 1
CANBusMessage *	_msg
char	_name [16]
bool	_sniff = false
char	_ssid [16]
bool	verbose = false
char	_wiFiPassword [16]

Detailed Description

Base class for all robots.

Member Function Documentation

actionAdd()

void Robot::actionAdd

(

ActionBase *

action

)

Add a new action to the collection of robot's possible actions.

Parameters

action

- the new action.

actionEnd()

void Robot::actionEnd ( )

inline

End current action

actionPreprocessing()

bool Robot::actionPreprocessing

(

bool

andFinish = true

)

Is this current action's initialization

Parameters

andFinish

- finish initialization

Returns

- it is.

actionPreprocessingEnd()

void Robot::actionPreprocessingEnd ( )

inline

Finish action's intialization phase

actionProcess()

void Robot::actionProcess ( )

protected

Actually perform the action

actionSet() [1/2]

void Robot::actionSet ( )

protected

User sets a new action, using keyboard or Bluetooth

actionSet() [2/2]

void Robot::actionSet ( ActionBase *  newAction )

protected

New action is set in the program

Parameters

newAction

- the new action.

add()

void Robot::add

(

Board *

aBoard

)

Add a new board to the collection of possible boards for the robot

Parameters

aBoard

- the board.

bitmapsSet()

virtual void Robot::bitmapsSet ( )

pure virtual

Store bitmaps in mrm-led8x8a.

Implemented in RobotSoccer, RobotMin, RobotMaze, and RobotLine.

blink()

void Robot::blink

(

)

Blink LED

bluetoothTest()

void Robot::bluetoothTest

(

)

Test Bluetooth

boardDisplayAndSelect()

bool Robot::boardDisplayAndSelect ( uint8_t *  selectedBoardIndex, uint8_t *  selectedDeviceIndex, uint8_t *  maxInput, uint8_t *  lastBoardAndIndex  )

protected

Finds board and device's index. Similar to next function, but display choices, too.

Parameters

selectedBoardIndex	- output
selectedDeviceIndex	- otuput
maxInput	- output
lastBoardAndIndex	- output

Returns

- true if found

boardsDisplayAll()

uint8_t Robot::boardsDisplayAll ( )

protected

Displays all boards

Returns

- last board and device's index, 0 if none

boardSelect()

bool Robot::boardSelect ( uint8_t  selectedNumber, uint8_t *  selectedBoardIndex, uint8_t *  selectedDeviceIndex, uint8_t *  maxInput  )

protected

Finds board and device's index for a number received from boardsDisplayAll(). Similar to previous function, but no display.

Parameters

selectedNumber	- input
selectedBoardIndex	- output, NULL if none found
selectedDeviceIndex	- otuput
maxInput	- output

Returns

- true if found

Finds board and device's index for a number received from boardsDisplayAll()

Parameters

selectedNumber	- input
selectedBoardIndex	- output
selectedDeviceIndex	- otuput
maxInput	- output

Returns

- true if found

canBusSniffToggle()

void Robot::canBusSniffToggle

(

)

Display all the incomming and outcomming CAN Bus messages

canIdChange()

void Robot::canIdChange

(

)

Change device's id

colorIlluminationOff()

void Robot::colorIlluminationOff

(

)

mrm-color-can illumination off

colorIlluminationOn()

void Robot::colorIlluminationOn

(

)

mrm-color-can illumination on

colorPatternErase()

void Robot::colorPatternErase

(

)

Erase HSV patterns

colorPatternPrint()

void Robot::colorPatternPrint

(

)

Print HSV patterns

colorPatternRecognize()

void Robot::colorPatternRecognize

(

)

Recognize HSV color pattern

colorPatternRecord()

void Robot::colorPatternRecord

(

)

Record HSV color patterns

delayMicros()

void Robot::delayMicros

(

uint16_t

pauseMicros

)

The right way to use Arduino function delayMicros

Parameters

pauseMicros

- pause in micros. One run even if pauseMicros == 0, so that delayMicross(0) receives all messages.

delayMs()

void Robot::delayMs

(

uint16_t

pauseMs

)

The right way to use Arduino function delay

Parameters

pauseMs

- pause in ms. One run even if pauseMs == 0, so that delayMs(0) receives all messages.

devicesScan()

uint8_t Robot::devicesScan

(

bool

verbose

)

Contacts all the CAN Bus devices and checks which one is alive. @verbose - if true, print.

Returns

count

devicesStart()

void Robot::devicesStart

(

uint8_t

measuringMode = 0

)

Starts devices' CAN Bus messages broadcasting.

devicesStop()

void Robot::devicesStop

(

)

Stops broadcasting of CAN Bus messages

end()

void Robot::end ( )

inline

End current action

errors()

void Robot::errors

(

)

Displays errors and stops motors, if any.

firmwarePrint()

void Robot::firmwarePrint

(

)

Displays each CAN Bus device's firmware

fpsGet()

float Robot::fpsGet

(

)

Returns FPS (frames per second).

Returns

- FPS

fpsPause()

void Robot::fpsPause ( )

protected

Avoids FPS measuring in the next 2 cycles.

fpsPrint()

void Robot::fpsPrint

(

)

Prints FPS all CAN Bus devices and mrm-eps32 boards. Also prints CAN Bus frequency.

fpsReset()

void Robot::fpsReset ( )

protected

Resets FPS data

fpsUpdate()

void Robot::fpsUpdate ( )

protected

Updates data for FPS calculation

goAhead()

virtual void Robot::goAhead ( )

pure virtual

Orders the robot to go ahead

Implemented in RobotSoccer, RobotMin, RobotMaze, and RobotLine.

i2cTest()

void Robot::i2cTest

(

)

Lists I2C devices

info()

void Robot::info

(

)

Request information

irFinder3Test()

void Robot::irFinder3Test

(

)

Tests mrm-ir-finder3, raw data.

irFinder3TestCalculated()

void Robot::irFinder3TestCalculated

(

)

Tests mrm-ir-finder3, calculated data.

lidar2mTest()

void Robot::lidar2mTest

(

)

Tests mrm-lid-can-b

lidar4mTest()

void Robot::lidar4mTest

(

)

Tests mrm-lid-can-b2

lidarCalibrate()

void Robot::lidarCalibrate

(

)

Calibrates lidars

loop()

virtual void Robot::loop ( )

pure virtual

User test, defined in derived classes.

Implemented in RobotSoccer, RobotMin, RobotMaze, and RobotLine.

menu()

void Robot::menu

(

)

Displays menu

menuColor()

void Robot::menuColor

(

)

Color menu

menuMainAndIdle()

void Robot::menuMainAndIdle

(

)

Displays menu and stops motors

menuReflectance()

void Robot::menuReflectance

(

)

Reflectance menu

menuSystem()

void Robot::menuSystem

(

)

System menu

messagePrint()

void Robot::messagePrint	(	CANBusMessage *	msg,
		bool	outbound
	)

Print CAN Bus message

Parameters

msg	- message
oubound	- if not, inbound

messagesReceive()

void Robot::messagesReceive

(

)

Receives CAN Bus messages.

motorTest()

void Robot::motorTest

(

)

Tests motors

nodeTest()

void Robot::nodeTest

(

)

Tests mrm-node

noLoopWithoutThis()

void Robot::noLoopWithoutThis

(

)

Any for or while loop must include call to this function.

oscillatorTest()

void Robot::oscillatorTest

(

)

Production test

reflectanceArrayCalibrationPrint()

void Robot::reflectanceArrayCalibrationPrint

(

)

Prints mrm-ref-can* calibration data

run()

void Robot::run

(

)

Starts robot's program

serialReadNumber()

uint16_t Robot::serialReadNumber	(	uint16_t	timeoutFirst = 3000,
		uint16_t	timeoutBetween = 500,
		bool	onlySingleDigitInput = false,
		uint16_t	limit = 0xFFFE,
		bool	printWarnings = true
	)

Reads serial ASCII input and converts it into an integer

Parameters

timeoutFirst	- timeout for first input
timeoutBetween	- timeout between inputs
onlySingleDigitInput	- completes input after first digit
limit	- returns 0xFFFF if overstepped
printWarnings	- prints out of range or timeout warnings

Returns

- converted number or 0xFFFF when timeout

servoInteractive()

void Robot::servoInteractive

(

)

Moves servo motor manually

setup()

bool Robot::setup ( bool  andFinish = true )

inline

Shorthand for actionPreprocessing(). Checks if this is first run.

Parameters

andFinish

- finish initialization

Returns

- first run or not.

sniffing()

bool Robot::sniffing ( )

inline

Checks if sniffing is active

Returns

- active or not

stopAll()

void Robot::stopAll

(

)

Stops all motors

stressTest()

bool Robot::stressTest

(

)

CAN Bus stress test

thermoTest()

void Robot::thermoTest

(

)

Tests mrm-therm-b-can

userBreak()

bool Robot::userBreak

(

)

Checks if user tries to break the program

Returns

- true if break requested.

verbosePrint()

void Robot::verbosePrint ( )

protected

Prints additional data in every loop pass

verboseToggle()

void Robot::verboseToggle

(

)

Verbose output toggle

vprint()

void Robot::vprint ( const char *  fmt, va_list  argp  )

protected

Print to all serial ports, pointer to list

---

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

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