#include <mrm-robot-line.h>

Inheritance diagram for RobotLine:

Public Member Functions
	RobotLine (char name[]=(char *)"RCJ Line")

void	armCatch ()

void	armCatchReady ()

void	armClose ()

void	armDrop ()

void	armUp ()

bool	barrier ()

void	bitmapsSet ()

uint16_t	brightness (uint8_t transistorNumber)

bool	button (uint8_t number)

void	curve ()

bool	dark ()

void	display (ledSign image)

void	display (char *text)

void	evacuationZone ()

uint16_t	front ()

uint16_t	frontLeft ()

uint16_t	frontRight ()

void	go (int16_t leftSpeed, int16_t rightSpeed)

uint16_t	leftBack ()

uint16_t	leftFront ()

bool	lineAny (uint8_t fistTransistor=0, uint8_t lastTransistor=0xFF)

bool	line (uint8_t transistorNumber)

float	lineCenter ()

void	loop0 ()

void	loop1 ()

void	loop2 ()

void	loop3 ()

void	loop4 ()

void	loop5 ()

void	loop6 ()

void	loop7 ()

void	loop8 ()

void	loopMenu ()

void	goAhead ()

float	heading ()

uint8_t	hue (uint8_t deviceNumber)

void	illumination (uint8_t current, uint8_t deviceNumber)

void	lineFollow ()

void	loop ()

bool	markers ()

void	obstacleAvoid ()

void	omniWheelsTest ()

uint8_t	patternColors (uint8_t deviceNumber)

float	pitch ()

void	rcjLine ()

uint16_t	rightBack ()

uint16_t	rightFront ()

float	roll ()

uint8_t	saturation (uint8_t deviceNumber)

void	servo (uint16_t degrees=90, uint8_t servoNumber=0)

void	sign (uint8_t number)

void	stop ()

void	surfacePrint (bool newLine=false, uint16_t delayMsAfterPrint=0)

void	turn (int16_t byDegreesClockwise)

uint8_t	value (uint8_t deviceNumber)

void	wallFollow ()

bool	wallLeft ()

bool	wallRight ()

Public Member Functions inherited from Robot
	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)

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 ()

void	i2cTest ()

void	info ()

void	irFinder3Test ()

void	irFinder3TestCalculated ()

void	lidar2mTest ()

void	lidar4mTest ()

void	lidarCalibrate ()

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 ()

Additional Inherited Members
Public Attributes inherited from Robot
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 inherited from Robot
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 inherited from Robot
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

Robot for RCJ Rescue Line, a class derived from the base Robot class.

Constructor & Destructor Documentation

◆ RobotLine()

RobotLine::RobotLine ( char name[] = (char*)"RCJ Line" )

Constructor

Parameters

name	- it is also used for Bluetooth so a Bluetooth client (like a phone) will list the device using this name.

Member Function Documentation

◆ armCatch()

void RobotLine::armCatch ( )

Arm will go to ball-catch position.

◆ armCatchReady()

void RobotLine::armCatchReady ( )

Arm will go to ball-catch ready position.

◆ armDrop()

void RobotLine::armDrop ( )

Arm will drop the ball.

◆ armUp()

void RobotLine::armUp ( )

Arm will lift the caught ball in the position where will be ready to drop it.

◆ barrier()

bool RobotLine::barrier ( )

Barrier interrupted? return interrupted or not

◆ bitmapsSet()

void RobotLine::bitmapsSet ( )

virtual

Stores bitmaps in mrm-led8x8a.

Implements Robot.

◆ brightness()

uint16_t RobotLine::brightness ( uint8_t transistorNumber )

Line sensor - brightness of the surface

Parameters

transistorNumber - starts from 0 and end value depends on sensor. Usually 7 (for mrm-ref-can8) or 8 (for mrm-ref-can9).

Returns: - brightness as an analog value.

◆ button()

bool RobotLine::button ( uint8_t number )

Reads push button switch @number - 0 to 3, push button's ordinal number

Returns: - true if pressed

◆ curve()

void RobotLine::curve ( )

Go through a curve

◆ dark()

bool RobotLine::dark ( )

Dark surface? return dark or not

◆ display() [1/2]

void RobotLine::display ( char * text )

Display 8x8 text image's number

◆ display() [2/2]

void RobotLine::display ( ledSign image )

Display 8x8 image image's number

◆ evacuationZone()

void RobotLine::evacuationZone ( )

Enter evacuation-zone algorithm.

Enter evacuation-zone algorithm

◆ front()

uint16_t RobotLine::front ( )

Front sensor distance.

Returns: - in mm

◆ frontLeft()

uint16_t RobotLine::frontLeft ( )

Front side - left sensor distance.

Returns: - in mm

◆ frontRight()

uint16_t RobotLine::frontRight ( )

Front side - right sensor distance.

Returns: - in mm

◆ go()

void RobotLine::go	(	int16_t	leftSpeed,
		int16_t	rightSpeed
	)

Start motors

Parameters

leftSpeed,in	range -127 to 127
right	Speed, in range -127 to 127
speedLimit	- Speed limit, 0 to 127. For example, 80 will limit all the speeds to 80/127%. 0 will turn the motors off.

◆ goAhead()

void RobotLine::goAhead ( )

virtual

Test - go straight ahead using a defined speed.

Implements Robot.

◆ heading()

float RobotLine::heading ( )

Compass

Returns: - North is 0�, clockwise are positive angles, values 0 - 360.

◆ hue()

uint8_t RobotLine::hue ( uint8_t deviceNumber )

Color sensor's hue

Parameters

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

Returns: - Hue

◆ illumination()

void RobotLine::illumination	(	uint8_t	current,
		uint8_t	deviceNumber
	)

Set color sensor's illumination intensity

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - all sensors.
current	- 0 - 3

◆ leftBack()

uint16_t RobotLine::leftBack ( )

Left side - rear sensor distance.

Returns: - in mm

◆ leftFront()

uint16_t RobotLine::leftFront ( )

Left side - front sensor distance.

Returns: - in mm

◆ line()

bool RobotLine::line ( uint8_t transistorNumber )

Line sensor

Parameters

transistorNumber - starts from 0 and end value depends on sensor. Usually 7 (for mrm-ref-can8) or 8 (for mrm-ref-can9).

Returns: - true if black line found

◆ lineAny()

bool RobotLine::lineAny	(	uint8_t	firstTransistor = `0`,
		uint8_t	lastTransistor = `0xFF`
	)

Line found?

Returns: - true if any sensor detects black.

Parameters

firstTransistor	- start checking from this transistor.
lastTransistor	- do not check after this one.

◆ lineCenter()

float RobotLine::lineCenter ( )

Center of measurements, like center of the line

Returns: - -50 - 50. If 0, center of the robot is on the line. Depending on sensor, this value is roughly number of milimeter the line is left or right.

◆ lineFollow()

void RobotLine::lineFollow ( )

Follow a RCJ line.

◆ loop()

void RobotLine::loop ( )

virtual

Custom test

Custom test. The function will be called many times during the test, till You issue "x" menu command.

Implements Robot.

◆ loop0()

void RobotLine::loop0 ( )

Generic actions, use them as templates

◆ loopMenu()

void RobotLine::loopMenu ( )

Generic menu

◆ markers()

bool RobotLine::markers ( )

Check markers and turn if any found

Returns: - true if marker found, false otherwise

◆ obstacleAvoid()

void RobotLine::obstacleAvoid ( )

Avoid an obstacle on line.

◆ omniWheelsTest()

void RobotLine::omniWheelsTest ( )

Test for Mecanum wheels.

◆ patternColors()

uint8_t RobotLine::patternColors ( uint8_t deviceNumber )

Choose a pattern closest to the current 6 colors

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
includeValue	- if true, HSV compared. If not, HS. @raturn - patternNumber

◆ pitch()

float RobotLine::pitch ( )

Pitch

Returns: - Pitch in degrees. Inclination forwards or backwards. Leveled robot shows 0�.

◆ rcjLine()

void RobotLine::rcjLine ( )

Starts the RCJ Line run after this action selected.

◆ rightBack()

uint16_t RobotLine::rightBack ( )

Right side - rear sensor distance.

Returns: - in mm

◆ rightFront()

uint16_t RobotLine::rightFront ( )

Right side - front sensor distance.

Returns: - in mm

◆ roll()

float RobotLine::roll ( )

Roll

Returns: - Roll in degrees. Inclination to the left or right. Values -90 - 90. Leveled robot shows 0�.

◆ saturation()

uint8_t RobotLine::saturation ( uint8_t deviceNumber )

Color sensor's saturation

Parameters

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

Returns: - saturation.

◆ servo()

void RobotLine::servo	(	uint16_t	degrees = `90`,
		uint8_t	servoNumber = `0`
	)

Move servo

Parameters

degrees	- Servo's target angle, 0 - 180�, or 0 - 360�, depending on model, counting clockwise
servoNumber	- Servo's ordinal number. Each call of function add() assigns a increasing number to the servo, starting with 0.

◆ sign()

void RobotLine::sign ( uint8_t number )

Display fixed sign stored in sensor sign's number

◆ stop()

void RobotLine::stop ( )

Stop the robot

◆ surfacePrint()

void RobotLine::surfacePrint	(	bool	newLine = `false`,
		uint16_t	delayMsAfterPrint = `0`
	)

Prints line and color sensors. Used for debugging.

Parameters

newLine	- new line
delayMsAfterPrint	- delay after print

◆ turn()

void RobotLine::turn ( int16_t byDegreesClockwise )

Turns the robot clockwise using compass.

Parameters

byDegreesClockwise - turn by defined number of degrees.

◆ value()

uint8_t RobotLine::value ( uint8_t deviceNumber )

Color sensor's value

Parameters

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

Returns: - value

◆ wallFollow()

void RobotLine::wallFollow ( )

Follows a wall.

◆ wallLeft()

bool RobotLine::wallLeft ( )

Wall left?

Returns: - true if wall

◆ wallRight()

bool RobotLine::wallRight ( )

Wall right?

Returns: - true if wall

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RobotLine()

Member Function Documentation

◆ armCatch()

◆ armCatchReady()

◆ armDrop()

◆ armUp()

◆ barrier()

◆ bitmapsSet()

◆ brightness()

◆ button()

◆ curve()

◆ dark()

◆ display() [1/2]

◆ display() [2/2]

◆ evacuationZone()

◆ front()

◆ frontLeft()

◆ frontRight()

◆ go()

◆ goAhead()

◆ heading()

◆ hue()

◆ illumination()

◆ leftBack()

◆ leftFront()

◆ line()

◆ lineAny()

◆ lineCenter()

◆ lineFollow()

◆ loop()

◆ loop0()

◆ loopMenu()

◆ markers()

◆ obstacleAvoid()

◆ omniWheelsTest()

◆ patternColors()

◆ pitch()

◆ rcjLine()

◆ rightBack()

◆ rightFront()

◆ roll()

◆ saturation()

◆ servo()

◆ sign()

◆ stop()

◆ surfacePrint()

◆ turn()

◆ value()

◆ wallFollow()

◆ wallLeft()

◆ wallRight()