#include <create.h>
Public Member Functions | |
bool | clean (const create::CleanMode &mode=CLEAN_DEFAULT) |
Starts a cleaning mode. Changes mode to MODE_PASSIVE. More... | |
bool | connect (const std::string &port, const int &baud) |
Make a serial connection to Create. More... | |
bool | connected () const |
Check if serial connection is active. More... | |
Create (const std::string &port, const int &baud, RobotModel model=RobotModel::CREATE_2, bool install_signal_handler=true) | |
Attempts to establish serial connection to Create. More... | |
Create (RobotModel model=RobotModel::CREATE_2, bool install_signal_handler=true) | |
Default constructor. More... | |
bool | defineSong (const uint8_t &songNumber, const uint8_t &songLength, const uint8_t *notes, const float *durations) const |
Defines a song from the provided notes and labels it with a song number. More... | |
void | disconnect () |
Disconnect from serial. More... | |
bool | dock () const |
Starts the docking behaviour. Changes mode to MODE_PASSIVE. More... | |
bool | drive (const float &xVel, const float &angularVel) |
Set the forward and angular velocity of Create. More... | |
bool | driveRadius (const float &velocity, const float &radius) |
Set the average wheel velocity and turning radius of Create. More... | |
bool | driveWheels (const float &leftWheel, const float &rightWheel) |
Set the velocities for the left and right wheels. More... | |
bool | driveWheelsPwm (const float &leftWheel, const float &rightWheel) |
Set the direct for the left and right wheels. More... | |
bool | enableCheckRobotLED (const bool &enable) |
Set the orange "check Create" LED on/off. More... | |
bool | enableDebrisLED (const bool &enable) |
Set the blue "debris" LED on/off. More... | |
bool | enableDockLED (const bool &enable) |
Set the green "dock" LED on/off. More... | |
bool | enableSpotLED (const bool &enable) |
Set the green "spot" LED on/off. More... | |
float | getBatteryCapacity () const |
Get estimated battery charge capacity. More... | |
float | getBatteryCharge () const |
Get battery's remaining charge. More... | |
create::ChargingState | getChargingState () const |
Get the current charging state. More... | |
float | getCurrent () const |
Get current flowing in/out of battery. A positive current implies Create is charging. More... | |
uint8_t | getDirtDetect () const |
Get level of the dirt detect sensor. More... | |
uint8_t | getIRLeft () const |
Get value of 8-bit IR character currently being received by left sensor. More... | |
uint8_t | getIROmni () const |
Get value of 8-bit IR character currently being received by omnidirectional sensor. More... | |
uint8_t | getIRRight () const |
Get value of 8-bit IR character currently being received by right sensor. More... | |
float | getLeftWheelDistance () const |
Get the total distance the left wheel has moved. More... | |
uint16_t | getLightSignalCenterLeft () const |
Get the signal strength from the center-left light sensor. More... | |
uint16_t | getLightSignalCenterRight () const |
Get the signal strength from the center-right light sensor. More... | |
uint16_t | getLightSignalFrontLeft () const |
Get the signal strength from the front-left light sensor. More... | |
uint16_t | getLightSignalFrontRight () const |
Get the signal strength from the front-right light sensor. More... | |
uint16_t | getLightSignalLeft () const |
Get the signal strength from the left light sensor. More... | |
uint16_t | getLightSignalRight () const |
Get the signal strength from the right light sensor. More... | |
float | getMeasuredLeftWheelVel () const |
Get the measured velocity of the left wheel. More... | |
float | getMeasuredRightWheelVel () const |
Get the measured velocity of the right wheel. More... | |
create::CreateMode | getMode () |
Get the current mode reported by Create. More... | |
bool | getModeReportWorkaround () const |
uint64_t | getNumCorruptPackets () const |
Get the number of corrupt serial packets since first connecting to Create. This value is ideally zero. If the number is consistently increasing then chances are some sensor information is not being updated. More... | |
create::Pose | getPose () const |
Get the estimated pose of Create based on wheel encoders. More... | |
float | getRequestedLeftWheelVel () const |
Get the requested velocity of the left wheel. This value is bounded at the maximum velocity of the robot model. More... | |
float | getRequestedRightWheelVel () const |
Get the requested velocity of the right wheel. This value is bounded at the maximum velocity of the robot model. More... | |
float | getRightWheelDistance () const |
Get the total distance the right wheel has moved. More... | |
int8_t | getTemperature () const |
Get the temperature of battery. More... | |
uint64_t | getTotalPackets () const |
Get the total number of serial packets received (including corrupt packets) since first connecting to Create. More... | |
create::Vel | getVel () const |
Get the estimated velocity of Create based on wheel encoders. More... | |
float | getVoltage () const |
Get battery voltage. More... | |
bool | isCleanButtonPressed () const |
Get state of 'clean' button ('play' button on Create 1). More... | |
bool | isCliff () const |
bool | isCliffFrontLeft () const |
bool | isCliffFrontRight () const |
bool | isCliffLeft () const |
bool | isCliffRight () const |
bool | isClockButtonPressed () const |
Not supported by any firmware! More... | |
bool | isDayButtonPressed () const |
Get state of 'day' button. More... | |
bool | isDockButtonPressed () const |
Get state of 'dock' button ('advance' button on Create 1). More... | |
bool | isHourButtonPressed () const |
Get state of 'hour' button. More... | |
bool | isLeftBumper () const |
bool | isLeftWheeldrop () const |
bool | isLightBumperCenterLeft () const |
bool | isLightBumperCenterRight () const |
bool | isLightBumperFrontLeft () const |
bool | isLightBumperFrontRight () const |
bool | isLightBumperLeft () const |
bool | isLightBumperRight () const |
bool | isMainBrushOvercurrent () const |
bool | isMinButtonPressed () const |
Get state of 'min' button. More... | |
bool | isMovingForward () const |
bool | isRightBumper () const |
bool | isRightWheeldrop () const |
bool | isScheduleButtonPressed () const |
Not supported by any firmware! More... | |
bool | isSideBrushOvercurrent () const |
bool | isSpotButtonPressed () const |
Get state of 'spot' button. More... | |
bool | isVirtualWall () const |
bool | isWall () const |
bool | isWheeldrop () const |
bool | isWheelOvercurrent () const |
bool | playSong (const uint8_t &songNumber) const |
Play a previously created song. This command will not work if a song was not already defined with the specified song number. More... | |
bool | setAllMotors (const float &mainPower, const float &sidePower, const float &vacuumPower) |
Set the power of all motors. More... | |
bool | setDate (const create::DayOfWeek &day, const uint8_t &hour, const uint8_t &min) const |
Sets the internal clock of Create. More... | |
bool | setDigits (const std::vector< bool > &segments) const |
Set the four 7-segment display digits from left to right. More... | |
bool | setDigitsASCII (const uint8_t &digit1, const uint8_t &digit2, const uint8_t &digit3, const uint8_t &digit4) const |
Set the four 7-segment display digits from left to right with ASCII codes. Any code out side the accepted ascii ranges results in blank display. More... | |
void | setDtHistoryLength (const uint8_t &dtHistoryLength) |
Set dtHistoryLength parameter. Used to configure the size of the buffer for calculating average time delta (dt). between onData calls, which in turn is used for velocity calculation. More... | |
bool | setMainMotor (const float &power) |
Set the power to the main brush motor. More... | |
bool | setMode (const create::CreateMode &mode) |
Change Create mode. More... | |
void | setModeReportWorkaround (const bool &enable) |
Enable or disable the mode reporting workaround. Some Roomba 6xx robots incorrectly report the OI mode in their sensor streams. Enabling the workaround will cause libcreate to decrement the reported OI mode in the sensor stream by 1. See https://github.com/AutonomyLab/create_robot/issues/64. More... | |
bool | setPowerLED (const uint8_t &power, const uint8_t &intensity=255) |
Set the center power LED. More... | |
bool | setSideMotor (const float &power) |
Set the power to the side brush motor. More... | |
bool | setVacuumMotor (const float &power) |
Set the power to the vacuum motor. More... | |
~Create () | |
Attempts to disconnect from serial. More... | |
Protected Attributes | |
std::shared_ptr< create::Data > | data |
std::shared_ptr< create::Serial > | serial |
Private Types | |
enum | CreateLED { LED_DEBRIS = 1, LED_SPOT = 2, LED_DOCK = 4, LED_CHECK = 8 } |
typedef boost::numeric::ublas::matrix< float > | Matrix |
Private Member Functions | |
Matrix | addMatrices (const Matrix &A, const Matrix &B) const |
void | init (bool install_signal_handler) |
void | onData () |
bool | updateLEDs () |
Private Attributes | |
uint8_t | checkLED |
uint8_t | debrisLED |
uint8_t | dockLED |
std::deque< float > | dtHistory |
uint8_t | dtHistoryLength |
bool | firstOnData |
uint8_t | mainMotorPower |
float | measuredLeftVel |
float | measuredRightVel |
CreateMode | mode |
RobotModel | model |
bool | modeReportWorkaround |
create::Pose | pose |
Matrix | poseCovar |
uint8_t | powerLED |
uint8_t | powerLEDIntensity |
std::chrono::time_point< std::chrono::steady_clock > | prevOnDataTime |
uint32_t | prevTicksLeft |
uint32_t | prevTicksRight |
float | requestedLeftVel |
float | requestedRightVel |
uint8_t | sideMotorPower |
uint8_t | spotLED |
float | totalLeftDist |
float | totalRightDist |
uint8_t | vacuumMotorPower |
create::Vel | vel |
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create::Create::Create | ( | RobotModel | model = RobotModel::CREATE_2 , |
bool | install_signal_handler = true |
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) |
Default constructor.
Calling this constructor Does not attempt to establish a serial connection to the robot.
model | the type of the robot. See RobotModel to determine the value for your robot. |
install_signal_handler | if true, then register a signal handler to disconnect from the robot on SIGINT or SIGTERM. |
Definition at line 55 of file create.cpp.
create::Create::Create | ( | const std::string & | port, |
const int & | baud, | ||
RobotModel | model = RobotModel::CREATE_2 , |
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bool | install_signal_handler = true |
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) |
Attempts to establish serial connection to Create.
port | of your computer that is connected to Create. |
baud | rate to communicate with Create. Typically, 115200 for Create 2 and 57600 for Create 1. |
model | type of robot. See RobotModel to determine the value for your robot. |
install_signal_handler | if true, then register a signal handler to disconnect from the robot on SIGINT or SIGTERM. |
Definition at line 59 of file create.cpp.
create::Create::~Create | ( | ) |
Attempts to disconnect from serial.
Definition at line 66 of file create.cpp.
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Definition at line 70 of file create.cpp.
bool create::Create::clean | ( | const create::CleanMode & | mode = CLEAN_DEFAULT | ) |
Starts a cleaning mode. Changes mode to MODE_PASSIVE.
Definition at line 362 of file create.cpp.
bool create::Create::connect | ( | const std::string & | port, |
const int & | baud | ||
) |
Make a serial connection to Create.
This is the first thing that should be done after instantiated this class.
Definition at line 294 of file create.cpp.
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bool create::Create::defineSong | ( | const uint8_t & | songNumber, |
const uint8_t & | songLength, | ||
const uint8_t * | notes, | ||
const float * | durations | ||
) | const |
Defines a song from the provided notes and labels it with a song number.
songNumber | can be one of four possible song slots, [0, 4] |
songLength | is the number of notes, maximum 16. length(notes) = length(durations) = songLength should be true. |
notes | is a sequence of notes. Each note is in the range [31, 127]. Anything outside this range is considered a rest note. |
durations | for each note in fractions of a second from the range [0, 4) |
Definition at line 591 of file create.cpp.
void create::Create::disconnect | ( | ) |
Disconnect from serial.
Definition at line 315 of file create.cpp.
bool create::Create::dock | ( | ) | const |
Starts the docking behaviour. Changes mode to MODE_PASSIVE.
Definition at line 366 of file create.cpp.
bool create::Create::drive | ( | const float & | xVel, |
const float & | angularVel | ||
) |
Set the forward and angular velocity of Create.
xVel | in m/s |
angularVel | in rads/s |
Definition at line 473 of file create.cpp.
bool create::Create::driveRadius | ( | const float & | velocity, |
const float & | radius | ||
) |
Set the average wheel velocity and turning radius of Create.
velocity | is in m/s bounded between [-0.5, 0.5] |
radius | in meters. Special cases: drive straight = CREATE_2_STRAIGHT_RADIUS, turn in place counter-clockwise = CREATE_2_IN_PLACE_RADIUS, turn in place clockwise = -CREATE_2_IN_PLACE_RADIUS |
Definition at line 380 of file create.cpp.
bool create::Create::driveWheels | ( | const float & | leftWheel, |
const float & | rightWheel | ||
) |
Set the velocities for the left and right wheels.
leftWheel | velocity in m/s. |
rightWheel | veloctiy in m/s. |
Definition at line 404 of file create.cpp.
bool create::Create::driveWheelsPwm | ( | const float & | leftWheel, |
const float & | rightWheel | ||
) |
Set the direct for the left and right wheels.
leftWheel | pwm in the range [-1, 1] |
rightWheel | pwm in the range [-1, 1] |
Definition at line 452 of file create.cpp.
bool create::Create::enableCheckRobotLED | ( | const bool & | enable | ) |
Set the orange "check Create" LED on/off.
enable |
Definition at line 555 of file create.cpp.
bool create::Create::enableDebrisLED | ( | const bool & | enable | ) |
Set the blue "debris" LED on/off.
enable |
Definition at line 531 of file create.cpp.
bool create::Create::enableDockLED | ( | const bool & | enable | ) |
Set the green "dock" LED on/off.
enable |
Definition at line 547 of file create.cpp.
bool create::Create::enableSpotLED | ( | const bool & | enable | ) |
Set the green "spot" LED on/off.
enable |
Definition at line 539 of file create.cpp.
float create::Create::getBatteryCapacity | ( | ) | const |
Get estimated battery charge capacity.
Definition at line 927 of file create.cpp.
float create::Create::getBatteryCharge | ( | ) | const |
Get battery's remaining charge.
Definition at line 917 of file create.cpp.
ChargingState create::Create::getChargingState | ( | ) | const |
float create::Create::getCurrent | ( | ) | const |
Get current flowing in/out of battery. A positive current implies Create is charging.
Definition at line 897 of file create.cpp.
uint8_t create::Create::getDirtDetect | ( | ) | const |
Get level of the dirt detect sensor.
Definition at line 751 of file create.cpp.
uint8_t create::Create::getIRLeft | ( | ) | const |
Get value of 8-bit IR character currently being received by left sensor.
Definition at line 771 of file create.cpp.
uint8_t create::Create::getIROmni | ( | ) | const |
Get value of 8-bit IR character currently being received by omnidirectional sensor.
Definition at line 761 of file create.cpp.
uint8_t create::Create::getIRRight | ( | ) | const |
Get value of 8-bit IR character currently being received by right sensor.
Definition at line 781 of file create.cpp.
float create::Create::getLeftWheelDistance | ( | ) | const |
Get the total distance the left wheel has moved.
Definition at line 1097 of file create.cpp.
uint16_t create::Create::getLightSignalCenterLeft | ( | ) | const |
Get the signal strength from the center-left light sensor.
Definition at line 1017 of file create.cpp.
uint16_t create::Create::getLightSignalCenterRight | ( | ) | const |
Get the signal strength from the center-right light sensor.
Definition at line 1047 of file create.cpp.
uint16_t create::Create::getLightSignalFrontLeft | ( | ) | const |
Get the signal strength from the front-left light sensor.
Definition at line 1007 of file create.cpp.
uint16_t create::Create::getLightSignalFrontRight | ( | ) | const |
Get the signal strength from the front-right light sensor.
Definition at line 1037 of file create.cpp.
uint16_t create::Create::getLightSignalLeft | ( | ) | const |
Get the signal strength from the left light sensor.
Definition at line 997 of file create.cpp.
uint16_t create::Create::getLightSignalRight | ( | ) | const |
Get the signal strength from the right light sensor.
Definition at line 1027 of file create.cpp.
float create::Create::getMeasuredLeftWheelVel | ( | ) | const |
Get the measured velocity of the left wheel.
Definition at line 1105 of file create.cpp.
float create::Create::getMeasuredRightWheelVel | ( | ) | const |
Get the measured velocity of the right wheel.
Definition at line 1109 of file create.cpp.
create::CreateMode create::Create::getMode | ( | ) |
bool create::Create::getModeReportWorkaround | ( | ) | const |
Definition at line 1125 of file create.cpp.
uint64_t create::Create::getNumCorruptPackets | ( | ) | const |
Get the number of corrupt serial packets since first connecting to Create. This value is ideally zero. If the number is consistently increasing then chances are some sensor information is not being updated.
Definition at line 1149 of file create.cpp.
Pose create::Create::getPose | ( | ) | const |
Get the estimated pose of Create based on wheel encoders.
Definition at line 1141 of file create.cpp.
float create::Create::getRequestedLeftWheelVel | ( | ) | const |
Get the requested velocity of the left wheel. This value is bounded at the maximum velocity of the robot model.
Definition at line 1113 of file create.cpp.
float create::Create::getRequestedRightWheelVel | ( | ) | const |
Get the requested velocity of the right wheel. This value is bounded at the maximum velocity of the robot model.
Definition at line 1117 of file create.cpp.
float create::Create::getRightWheelDistance | ( | ) | const |
Get the total distance the right wheel has moved.
Definition at line 1101 of file create.cpp.
int8_t create::Create::getTemperature | ( | ) | const |
uint64_t create::Create::getTotalPackets | ( | ) | const |
Get the total number of serial packets received (including corrupt packets) since first connecting to Create.
Definition at line 1153 of file create.cpp.
Vel create::Create::getVel | ( | ) | const |
Get the estimated velocity of Create based on wheel encoders.
Definition at line 1145 of file create.cpp.
float create::Create::getVoltage | ( | ) | const |
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Definition at line 17 of file create.cpp.
bool create::Create::isCleanButtonPressed | ( | ) | const |
Get state of 'clean' button ('play' button on Create 1).
Definition at line 803 of file create.cpp.
bool create::Create::isCliff | ( | ) | const |
Definition at line 685 of file create.cpp.
bool create::Create::isCliffFrontLeft | ( | ) | const |
Definition at line 711 of file create.cpp.
bool create::Create::isCliffFrontRight | ( | ) | const |
Definition at line 731 of file create.cpp.
bool create::Create::isCliffLeft | ( | ) | const |
Definition at line 701 of file create.cpp.
bool create::Create::isCliffRight | ( | ) | const |
Definition at line 721 of file create.cpp.
bool create::Create::isClockButtonPressed | ( | ) | const |
Not supported by any firmware!
Definition at line 814 of file create.cpp.
bool create::Create::isDayButtonPressed | ( | ) | const |
Get state of 'day' button.
Definition at line 837 of file create.cpp.
bool create::Create::isDockButtonPressed | ( | ) | const |
Get state of 'dock' button ('advance' button on Create 1).
Definition at line 867 of file create.cpp.
bool create::Create::isHourButtonPressed | ( | ) | const |
Get state of 'hour' button.
Definition at line 847 of file create.cpp.
bool create::Create::isLeftBumper | ( | ) | const |
Definition at line 655 of file create.cpp.
bool create::Create::isLeftWheeldrop | ( | ) | const |
Definition at line 635 of file create.cpp.
bool create::Create::isLightBumperCenterLeft | ( | ) | const |
Definition at line 957 of file create.cpp.
bool create::Create::isLightBumperCenterRight | ( | ) | const |
Definition at line 967 of file create.cpp.
bool create::Create::isLightBumperFrontLeft | ( | ) | const |
Definition at line 947 of file create.cpp.
bool create::Create::isLightBumperFrontRight | ( | ) | const |
Definition at line 977 of file create.cpp.
bool create::Create::isLightBumperLeft | ( | ) | const |
Definition at line 937 of file create.cpp.
bool create::Create::isLightBumperRight | ( | ) | const |
Definition at line 987 of file create.cpp.
bool create::Create::isMainBrushOvercurrent | ( | ) | const |
Definition at line 1077 of file create.cpp.
bool create::Create::isMinButtonPressed | ( | ) | const |
Get state of 'min' button.
Definition at line 857 of file create.cpp.
bool create::Create::isMovingForward | ( | ) | const |
Definition at line 1057 of file create.cpp.
bool create::Create::isRightBumper | ( | ) | const |
Definition at line 665 of file create.cpp.
bool create::Create::isRightWheeldrop | ( | ) | const |
Definition at line 645 of file create.cpp.
bool create::Create::isScheduleButtonPressed | ( | ) | const |
Not supported by any firmware!
Definition at line 826 of file create.cpp.
bool create::Create::isSideBrushOvercurrent | ( | ) | const |
Definition at line 1067 of file create.cpp.
bool create::Create::isSpotButtonPressed | ( | ) | const |
Get state of 'spot' button.
Definition at line 877 of file create.cpp.
bool create::Create::isVirtualWall | ( | ) | const |
Definition at line 741 of file create.cpp.
bool create::Create::isWall | ( | ) | const |
Definition at line 675 of file create.cpp.
bool create::Create::isWheeldrop | ( | ) | const |
Definition at line 625 of file create.cpp.
bool create::Create::isWheelOvercurrent | ( | ) | const |
Definition at line 1087 of file create.cpp.
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Definition at line 94 of file create.cpp.
bool create::Create::playSong | ( | const uint8_t & | songNumber | ) | const |
Play a previously created song. This command will not work if a song was not already defined with the specified song number.
songNumber | is one of four stored songs in the range [0, 4] |
Definition at line 614 of file create.cpp.
bool create::Create::setAllMotors | ( | const float & | mainPower, |
const float & | sidePower, | ||
const float & | vacuumPower | ||
) |
Set the power of all motors.
mainPower | in the range [-1, 1] |
sidePower | in the range [-1, 1] |
vacuumPower | in the range [0, 1] |
Definition at line 480 of file create.cpp.
bool create::Create::setDate | ( | const create::DayOfWeek & | day, |
const uint8_t & | hour, | ||
const uint8_t & | min | ||
) | const |
Sets the internal clock of Create.
day | in range [0, 6] |
hour | in range [0, 23] |
min | in range [0, 59] |
Definition at line 370 of file create.cpp.
bool create::Create::setDigits | ( | const std::vector< bool > & | segments | ) | const |
Set the four 7-segment display digits from left to right.
segments | to enable (true) or disable (false). The size of segments should be less than 29. The ordering of segments is left to right, top to bottom for each digit: |
0 7 14 21 |‾‾‾| |‾‾‾| |‾‾‾| |‾‾‾| 1 |___| 2 8 |___| 9 15 |___| 16 22 |___| 23 | 3 | | 10| | 17| | 24| 4 |___| 5 11|___| 12 18 |___| 19 25 |___| 26 6 13 20 27
bool create::Create::setDigitsASCII | ( | const uint8_t & | digit1, |
const uint8_t & | digit2, | ||
const uint8_t & | digit3, | ||
const uint8_t & | digit4 | ||
) | const |
Set the four 7-segment display digits from left to right with ASCII codes. Any code out side the accepted ascii ranges results in blank display.
digit1 | is left most digit with ascii range [32, 126] |
digit2 | is second to left digit with ascii range [32, 126] |
digit3 | is second to right digit with ascii range [32, 126] |
digit4 | is right most digit with ascii range [32, 126] |
Definition at line 573 of file create.cpp.
void create::Create::setDtHistoryLength | ( | const uint8_t & | dtHistoryLength | ) |
Set dtHistoryLength parameter. Used to configure the size of the buffer for calculating average time delta (dt). between onData calls, which in turn is used for velocity calculation.
dtHistoryLength | number of historical samples to use for calculating average dt. |
Definition at line 621 of file create.cpp.
bool create::Create::setMainMotor | ( | const float & | power | ) |
Set the power to the main brush motor.
power | is in the range [-1, 1] |
Definition at line 508 of file create.cpp.
bool create::Create::setMode | ( | const create::CreateMode & | mode | ) |
Change Create mode.
mode | to change Create to. |
Definition at line 326 of file create.cpp.
void create::Create::setModeReportWorkaround | ( | const bool & | enable | ) |
Enable or disable the mode reporting workaround. Some Roomba 6xx robots incorrectly report the OI mode in their sensor streams. Enabling the workaround will cause libcreate to decrement the reported OI mode in the sensor stream by 1. See https://github.com/AutonomyLab/create_robot/issues/64.
Definition at line 1121 of file create.cpp.
bool create::Create::setPowerLED | ( | const uint8_t & | power, |
const uint8_t & | intensity = 255 |
||
) |
Set the center power LED.
power | in range [0, 255] where 0 = green and 255 = red |
intensity | in range [0, 255] |
Definition at line 563 of file create.cpp.
bool create::Create::setSideMotor | ( | const float & | power | ) |
Set the power to the side brush motor.
power | is in the range [-1, 1] |
Definition at line 512 of file create.cpp.
bool create::Create::setVacuumMotor | ( | const float & | power | ) |
Set the power to the vacuum motor.
power | is in the range [0, 1] |
Definition at line 516 of file create.cpp.
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Definition at line 520 of file create.cpp.
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