#include <mrm-robot-soccer.h>

Inheritance diagram for RobotSoccer:

Public Member Functions
	RobotSoccer (char name[]=(char *)"RCJ Soccer")

uint16_t	back ()

int16_t	ballAngle ()

bool	barrier ()

void	bitmapsSet ()

uint16_t	brightness (uint8_t transistorNumber, uint8_t deviceNumber)

bool	button (uint8_t number)

void	catchBall ()

uint16_t	front ()

void	go (float speed, float angleDegrees, float rotation, uint8_t speedLimit)

void	goAhead ()

float	heading ()

void	idle ()

uint16_t	left ()

bool	line (uint8_t transistorNumber, uint8_t deviceNumber)

void	loop ()

void	play ()

float	pitch ()

uint16_t	right ()

float	roll ()

void	sign (uint8_t number)

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 Soccer

Constructor & Destructor Documentation

◆ RobotSoccer()

RobotSoccer::RobotSoccer ( char name[] = (char*)"RCJ Soccer" )

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

◆ back()

uint16_t RobotSoccer::back ( )

Rear distance to wall

Returns: - in mm

◆ ballAngle()

int16_t RobotSoccer::ballAngle ( )

Ball's direction

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

◆ barrier()

bool RobotSoccer::barrier ( )

Read barrier

Returns: - true if interrupted

◆ bitmapsSet()

void RobotSoccer::bitmapsSet ( )

virtual

Store bitmaps in mrm-led8x8a.

Implements Robot.

◆ brightness()

uint16_t RobotSoccer::brightness	(	uint8_t	transistorNumber,
		uint8_t	deviceNumber
	)

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

Returns: - brightness as an analog value.

◆ button()

bool RobotSoccer::button ( uint8_t number )

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

Returns: - true if pressed

◆ catchBall()

void RobotSoccer::catchBall ( )

Go around the ball and approach it.

◆ front()

uint16_t RobotSoccer::front ( )

Front distance to wall

Returns: - in mm

◆ go()

void RobotSoccer::go	(	float	speed,
		float	angleDegrees,
		float	rotation,
		uint8_t	speedLimit
	)

Control of a robot with axles connected in a star formation, like in a RCJ soccer robot with omni wheels. Motor 0 is at 45 degrees, 1 at 135, 2 at -135, 3 at -45.

Parameters

speed	- 0 to 100.
angleDegrees	- Movement direction in a robot's coordinate system, in degrees. 0 degree is the front of the robot and positive angles are to the right. Values between -180 and 180.
rotation	- Rotation speed (around the vertical axis), -100 to 100. Positive numbers turn the robot to the right. It makes sense to use smaller numbers because a value 100 turns on all the motors at maximal speed.
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 RobotSoccer::goAhead ( )

virtual

Test - go straight ahead.

Implements Robot.

◆ heading()

float RobotSoccer::heading ( )

Compass

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

◆ idle()

void RobotSoccer::idle ( )

No ball detected - return to Your goal.

◆ left()

uint16_t RobotSoccer::left ( )

Front distance to wall

Returns: - in mm

Left distance to wall

Returns: - in mm

◆ line()

bool RobotSoccer::line	(	uint8_t	transistorNumber,
		uint8_t	deviceNumber
	)

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

Returns: - true if white line found

◆ loop()

void RobotSoccer::loop ( )

virtual

Custom test

Custom test.

Implements Robot.

◆ pitch()

float RobotSoccer::pitch ( )

Pitch

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

◆ play()

void RobotSoccer::play ( )

Starts robot.

Starts robot

◆ right()

uint16_t RobotSoccer::right ( )

Right distance to wall

Returns: - in mm

◆ roll()

float RobotSoccer::roll ( )

Roll

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

◆ sign()

void RobotSoccer::sign ( uint8_t number )

Display fixed sign stored in sensor sign's number

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RobotSoccer()

Member Function Documentation

◆ back()

◆ ballAngle()

◆ barrier()

◆ bitmapsSet()

◆ brightness()

◆ button()

◆ catchBall()

◆ front()

◆ go()

◆ goAhead()

◆ heading()

◆ idle()

◆ left()

◆ line()

◆ loop()

◆ pitch()

◆ play()

◆ right()

◆ roll()

◆ sign()