Elektron Class Reference

#include <elektron.hpp>

List of all members.

Public Member Functions
	Elektron (const std::string &port, int baud=BAUD)
void	getOdometry (double &x, double &y, double &a)
void	getRawOdometry (double &linc, double &rinc)
void	getVelocity (double &lvel, double &rvel)
bool	isConnected ()
void	setOdometry (double x, double y, double a)
void	setScale (double ls, double rs)
void	setVelocity (double lvel, double rvel)
void	update ()
void	updateOdometry ()
	~Elektron ()
Public Attributes
double	enc_ticks
double	m_per_tick
double	robot_axle_length
Private Member Functions
void	addToCommandArray (uint8_t command)
void	clearCommandArray (void)
Private Attributes
uint8_t	commandArray [256]
uint8_t	commandCnt
bool	connected
int	fd
double	lin_scale
struct termios	oldtio
double	rot_scale
uint8_t	rxBuf [256]
uint8_t	rxCnt
uint8_t	txAddr
uint8_t	txBuf [256]
uint8_t	txCnt

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Detailed Description

Definition at line 46 of file elektron.hpp.

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Constructor & Destructor Documentation

Elektron::Elektron	(	const std::string &	port,
		int	baud = BAUD
	)

Definition at line 35 of file elektron.cpp.

Elektron::~Elektron

(

)

Definition at line 82 of file elektron.cpp.

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Member Function Documentation

void Elektron::addToCommandArray

(

uint8_t

command

)

[private]

Definition at line 156 of file elektron.cpp.

void Elektron::clearCommandArray

(

void

)

[private]

Definition at line 160 of file elektron.cpp.

void Elektron::getOdometry	(	double &	x,
		double &	y,
		double &	a
	)

void Elektron::getRawOdometry	(	double &	linc,
		double &	rinc
	)

void Elektron::getVelocity	(	double &	lvel,
		double &	rvel
	)

Definition at line 134 of file elektron.cpp.

bool Elektron::isConnected

(

)

Definition at line 152 of file elektron.cpp.

void Elektron::setOdometry	(	double	x,
		double	y,
		double	a
	)

void Elektron::setScale	(	double	ls,
		double	rs
	)

Definition at line 147 of file elektron.cpp.

void Elektron::setVelocity	(	double	lvel,
		double	rvel
	)

Definition at line 107 of file elektron.cpp.

void Elektron::update

(

)

Definition at line 89 of file elektron.cpp.

void Elektron::updateOdometry

(

)

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Member Data Documentation

uint8_t Elektron::commandArray[256] [private]

Definition at line 84 of file elektron.hpp.

uint8_t Elektron::commandCnt [private]

Definition at line 85 of file elektron.hpp.

bool Elektron::connected [private]

Definition at line 74 of file elektron.hpp.

double Elektron::enc_ticks

Definition at line 67 of file elektron.hpp.

int Elektron::fd [private]

Definition at line 72 of file elektron.hpp.

double Elektron::lin_scale [private]

Definition at line 90 of file elektron.hpp.

double Elektron::m_per_tick

Definition at line 65 of file elektron.hpp.

struct termios Elektron::oldtio [private]

Definition at line 73 of file elektron.hpp.

double Elektron::robot_axle_length

Definition at line 66 of file elektron.hpp.

double Elektron::rot_scale [private]

Definition at line 91 of file elektron.hpp.

uint8_t Elektron::rxBuf[256] [private]

Definition at line 82 of file elektron.hpp.

uint8_t Elektron::rxCnt [private]

Definition at line 83 of file elektron.hpp.

uint8_t Elektron::txAddr [private]

Definition at line 86 of file elektron.hpp.

uint8_t Elektron::txBuf[256] [private]

Definition at line 80 of file elektron.hpp.

uint8_t Elektron::txCnt [private]

Definition at line 81 of file elektron.hpp.

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

• elektron.hpp
• elektron.cpp