MipResources::DiffDrive Class Reference
[Motion module]

Differential drive Motion Module (Pure virtual). More...

#include <MotionModule.h>

Inheritance diagram for MipResources::DiffDrive:

List of all members.

Public Member Functions
	DiffDrive (int argc, const char *argv[])
	Default constructor.
	~DiffDrive ()
	Default destructor.
virtual ResourcePlate	getPlate () const =0
	Gets the plate of the resource.
virtual void	setWheelCommands (Decimal leftAngVel, Decimal rightAngVel)=0
	Sets the angular velocities of the left and right wheels.
virtual DiffDriveEncoderReading	getEncoders ()=0
	Gets the DiffDriveEncoderReading of the encoders of the left and right wheels.
DiffDrivePar *	getPar ()
	Gets the DiffDrive pointer parameters.
Protected Member Functions
MotionModuleTState	_providedLocStep ()
void	_providedLocSet (MotionModuleState state)
void	_providedSetCommands (Decimal drive, Decimal turnrate)
Protected Attributes
MipAlgorithms::DiffDriveOdometer *	_odometer
DiffDriveEncoderReading	_prevEncoder
DiffDriveEncoderReading	_currEncoder
DiffDrivePar *	_ddPar
DiffDriveVar *	_ddVar

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Detailed Description

Differential drive Motion Module (Pure virtual).

Author:

Antonio Franchi

Todo:

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Constructor & Destructor Documentation

MipResources::DiffDrive::DiffDrive	(	int	argc,
		const char *	argv[]
	)

Default constructor.

MipResources::DiffDrive::~DiffDrive

(

)

Default destructor.

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Member Function Documentation

MotionModuleTState MipResources::DiffDrive::_providedLocStep

(

)

[protected, virtual]

Implements MipResources::MotionModule.

void MipResources::DiffDrive::_providedLocSet

(

MotionModuleState

state

)

[protected, virtual]

Todo:

Urgent, implement the check on erroneus ticks.

Implements MipResources::MotionModule.

void MipResources::DiffDrive::_providedSetCommands	(	Decimal	drive,
		Decimal	turnrate
	)			[protected, virtual]

Implements MipResources::MotionModule.

virtual ResourcePlate MipResources::DiffDrive::getPlate

(

)

const [pure virtual]

Gets the plate of the resource.

Implements MipResources::Unicycle.

Implemented in MipResources::Korebot, MipResources::KorebotROS, and MipResources::WebotsKoremot.

virtual void MipResources::DiffDrive::setWheelCommands	(	Decimal	leftAngVel,
		Decimal	rightAngVel
	)			[pure virtual]

Sets the angular velocities of the left and right wheels.

Parameters:

	leftAngVel	Angular velocity to drive the left wheel.
	rightAngVel	Angular velocity to drive the right wheel.

Implemented in MipResources::Korebot, MipResources::KorebotROS, and MipResources::WebotsDiffDrive.

virtual DiffDriveEncoderReading MipResources::DiffDrive::getEncoders

(

)

[pure virtual]

Gets the DiffDriveEncoderReading of the encoders of the left and right wheels.

Returns:

DiffDriveEncoderReading.

Implemented in MipResources::Korebot, MipResources::KorebotROS, and MipResources::WebotsDiffDrive.

DiffDrivePar* MipResources::DiffDrive::getPar

(

void

)

[inline, virtual]

Gets the DiffDrive pointer parameters.

Returns:

DiffDrive pointer parameters.

Reimplemented from MipResources::MotionModule.

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Member Data Documentation

MipAlgorithms::DiffDriveOdometer* MipResources::DiffDrive::_odometer [protected]

DiffDriveEncoderReading MipResources::DiffDrive::_prevEncoder [protected]

DiffDriveEncoderReading MipResources::DiffDrive::_currEncoder [protected]

DiffDrivePar* MipResources::DiffDrive::_ddPar [protected]

DiffDriveVar* MipResources::DiffDrive::_ddVar [protected]

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

• resources/MotionModule/MotionModule.h
• resources/MotionModule/MotionModule.cpp