Public Types |
| enum | _miniQaction {
MQ_ACTION_GET_VERSION = 1,
MQ_ACTION_DRIVE = 2,
MQ_ACTION_DRIVE_DIRECT = 3,
MQ_ACTION_GET_ODOMETRY = 4,
MQ_ACTION_GET_ENCODER_PULSES = 5,
MQ_ACTION_GET_WHEEL_VELOCITIES = 6,
MQ_ACTION_GET_GAS_SENSOR = 7,
MQ_ACTION_GET_IR_BUMPER = 8,
MQ_ACTION_GET_LINE_SENSOR = 9,
MQ_ACTION_GET_BATTERY = 10,
MQ_ACTION_GET_DEBUG = 11,
MQ_ACTION_SET_DEBUG = 12,
MQ_ACTION_SET_PID_GAINS = 13,
MQ_ACTION_GET_PID_GAINS = 14,
MQ_ACTION_SET_ODOMETRY_CALIBRATION = 15,
MQ_ACTION_GET_ODOMETRY_CALIBRATION = 16,
MQ_ACTION_SET_ID = 17,
MQ_ACTION_GET_ID = 18,
MQ_ACTION_SET_MODE = 19,
MQ_ACTION_GET_MODE = 20,
MQ_ACTION_SET_GAS_CALIBRATION = 21,
MQ_ACTION_GET_GAS_CALIBRATION = 22,
MQ_ACTION_SET_BATTERY_TYPE = 23,
MQ_ACTION_GET_BATTERY_TYPE = 24,
MQ_ACTION_SET_TIMEOUT = 25,
MQ_ACTION_GET_TIMEOUT = 26,
MQ_ACTION_GET_GROUP_1 = 27,
MQ_ACTION_GET_GROUP_2 = 28,
MQ_ACTION_COUNT = 29
} |
| | miniQ actions More...
|
| enum | _miniQPID { LeftStartingPID = 0,
LeftRunningPID = 1,
RightStartingPID = 2,
RightRunningPID = 3
} |
| typedef enum miniQ::_miniQaction | miniQaction |
| | miniQ actions
|
| typedef enum miniQ::_miniQPID | miniQPID |
Public Member Functions |
| bool | checkVersion () |
| | This function asks the firmware version from the miniQ robot.
|
| double | getAngularVelocity () |
| | Getter for the robot angular velocity.
|
| double | getGas () |
| | Getter for the gas sensor reading.
|
| int | getID () |
| double | getLeftWheelVelocity () |
| | Getter for the left wheel velocity.
|
| double | getLinearVelocity () |
| | Getter for the robot linear velocity.
|
| double | getRawGas () |
| | Getter for the gas sensor reading.
|
| double | getRightWheelVelocity () |
| | Getter for the right wheel velocity.
|
| double | getX () |
| double | getY () |
| double | getYaw () |
| | miniQ () |
| bool | setBatteryType (int battery_type) |
| bool | setGasSensorCallibration (double a, double b) |
| void | setId (int id) |
| bool | setMode (int mode) |
| bool | setOdometryCallibration (double odometry_d, double odometry_yaw) |
| bool | setPIDGains (int kp, int ki, int kd, miniQPID pid) |
| void | setPWM (int left_pwm, int left_dir, int right_pwm, int right_dir) |
| bool | setTimeout (double timeout) |
| void | setVelocities (double linear_velocity, double angular_velocity) |
| | This function allows to send velocity commands to the velocity controllers.
|
| bool | update () |
| | This function communicates with the robot to update the odometry and gas sensor data.
|
| bool | updateVelocities () |
| | This function pushes the velocities in memory to the robot.
|
| bool | updateWheelVelocities () |
| | ~miniQ () |
Static Public Member Functions |
| static bool | openPort (char *port, int baudrate) |
| | This function opens the virtual comm to the miniQ robot.
|
| static int | scanForId (int id) |
Private Attributes |
| double | angular_velocity_ |
| | Angular velocity.
|
| double | gas_ |
| | Gas.
|
| double | gas_raw_ |
| | Raw gas.
|
| int | id_ |
| | Robot id.
|
| double | left_wheel_velocity_ |
| | Left wheel velocity.
|
| double | linear_velocity_ |
| | Velocity in x.
|
| double | right_wheel_velocity_ |
| | Right wheel velocity.
|
| double | x_ |
| | Position in x.
|
| double | y_ |
| | Position in y.
|
| double | yaw_ |
| | Yaw.
|
Static Private Attributes |
| static cereal::CerealPort | serial_port |
Definition at line 44 of file miniQ.h.