This class library has been created for use with the Apeiros Robot by Abe Howell's Robotics.
Apeiros Class Reference
#include <Apeiros.h>
Public Member Functions | |
Apeiros (PinName tx, PinName rx, int leftMotorPwmOffset, int rightMotorPwmOffset) | |
Create Apeiros instance. | |
void | Begin (void) |
Begin using Apeiros class. | |
bool | IsSerialDataAvailable (void) |
Is Serial data available to be parsed. | |
void | ParseUartData (void) |
Parse available serial UART data. | |
void | SetBuzzerTone (int buzzerTone) |
Set piezo buzzer tone. | |
void | SetMotorSpeed (int leftMotorSpeed, int rightMotorSpeed) |
Set left and right motor speeds. | |
void | SetGripperPosition (int pulseWidth_us) |
Set servo gripper position. | |
int | GetLeftEncoder (void) |
Return integer count for left wheel encoder. | |
int | GetRightEncoder (void) |
Return integer count for right wheel encoder. | |
void | ResetWheelEncoders (void) |
Reset both left & right wheel encoder counts. | |
Data Fields | |
DigitalIn | leftFrontIR |
DigitalIn object for Left Front IR Sensor. | |
DigitalIn | centerFrontIR |
DigitalIn object for Center Front IR Sensor. | |
DigitalIn | rightFrontIR |
DigitalIn object for Right Front IR Sensor. | |
DigitalIn | leftRearIR |
DigitalIn object for Left Rear IR Sensor. | |
DigitalIn | rightRearIR |
DigitalIn object for Right Rear IR Sensor. | |
AnalogIn | ad_0 |
ad_0 AnalogIn object. | |
AnalogIn | ad_1 |
ad_1 AnalogIn object. | |
AnalogIn | ad_2 |
ad_2 AnalogIn object. | |
AnalogIn | ad_3 |
ad_3 AnalogIn object. | |
AnalogIn | ad_4 |
ad_4 AnalogIn object. | |
AnalogIn | ad_5 |
ad_5 AnalogIn object. |
Detailed Description
Create Apeiros class.
- Parameters:
-
Apeiros class
Definition at line 48 of file Apeiros.h.
Constructor & Destructor Documentation
Apeiros | ( | PinName | tx, |
PinName | rx, | ||
int | leftMotorPwmOffset, | ||
int | rightMotorPwmOffset | ||
) |
Create Apeiros instance.
- Parameters:
-
tx specified as PinName of UART Tx pin. Use SERIAL_TX as default. Use PA_9 for wireless shield. rx specified as PinName of UART Rx pin. Use SERIAL_RX as deafult. Use PA_10 for wireless shield. leftMotorPwmOffset specified as integer value from 0-150. Use 100 as default. rightMotorPwmOffset specified as integer value from 0-150. Use 100 as default.
The PwmOffsets are used to eliminate the deadband for both the left & right motor, so that each motor begins to rotate when motor speeds are specified as aperiros.SetMotorSpeed(1,1).
Pass a zero for each PwmOffset parameter and then use SetMotorSpeed function to find the leftMotorPwmOffset & rightMotorPwmOffset values.
You have found the PwmOffset value when the respective motor goes from not rotating to starting rotation.
Definition at line 7 of file Apeiros.cpp.
Member Function Documentation
void Begin | ( | void | ) |
Begin using Apeiros class.
Must be called before using class functions.
Definition at line 63 of file Apeiros.cpp.
int GetLeftEncoder | ( | void | ) |
Return integer count for left wheel encoder.
- Returns:
- Integer value for left wheel encoder count.
Definition at line 545 of file Apeiros.cpp.
int GetRightEncoder | ( | void | ) |
Return integer count for right wheel encoder.
- Returns:
- Integer value for right wheel encoder count.
Definition at line 553 of file Apeiros.cpp.
bool IsSerialDataAvailable | ( | void | ) |
Is Serial data available to be parsed.
- Returns:
- 1 if serial data is available, 0 if no serial data has been received
Definition at line 235 of file Apeiros.cpp.
void ParseUartData | ( | void | ) |
Parse available serial UART data.
Definition at line 244 of file Apeiros.cpp.
void ResetWheelEncoders | ( | void | ) |
Reset both left & right wheel encoder counts.
Definition at line 561 of file Apeiros.cpp.
void SetBuzzerTone | ( | int | buzzerTone ) |
Set piezo buzzer tone.
- Parameters:
-
buzzerTone specified as an integer value(int) from 0-100.
Definition at line 307 of file Apeiros.cpp.
void SetGripperPosition | ( | int | pulseWidth_us ) |
Set servo gripper position.
- Parameters:
-
pulseWidth_us specified as an integer value(int) from MIN_GRIPPER_PULSE(1000) to MAX_GRIPPER_PULSE(2200).
Definition at line 534 of file Apeiros.cpp.
void SetMotorSpeed | ( | int | leftMotorSpeed, |
int | rightMotorSpeed | ||
) |
Set left and right motor speeds.
- Parameters:
-
leftMotorSpeed specified as an integer value(int) from 0 to (255-leftMotorPwmOffset). Use a preceeding negative sign to reverse motor rotation. rightMotorSpeed specified as an integer value(int) from 0 to (255-rightMotorPwmOffset). Use a preceeding negative sign to reverse motor rotation.
For example, if leftMotorPwmOffset = 95 then valid left motor speed range is 0 to 165. Use a preceeding negative sign to reverse motor rotation.
Drive robot forward with apeiros.SetMotorSpeed(65,65).
Drive robot in reverse with apeiros.SetMotorSpeed(-65,-65).
Spin robot clockwise with apeiros.SetMotorSpeed(65,-65).
Spin robot counterclockwise with apeiros.SetMotorSpeed(-65,65).
Definition at line 362 of file Apeiros.cpp.
Field Documentation
AnalogIn ad_0 |
AnalogIn ad_1 |
AnalogIn ad_2 |
AnalogIn ad_3 |
AnalogIn ad_4 |
AnalogIn ad_5 |
DigitalIn centerFrontIR |
DigitalIn leftFrontIR |
DigitalIn leftRearIR |
DigitalIn rightFrontIR |
DigitalIn rightRearIR |
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