#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 (RobotModel model=RobotModel::CREATE_2, bool install_signal_handler=true)
	Default constructor. 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...

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...

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...

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

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

Detailed Description

Definition at line 49 of file create.h.

Member Typedef Documentation

typedef boost::numeric::ublas::matrix<float> create::Create::Matrix

private

Definition at line 51 of file create.h.

Member Enumeration Documentation

enum create::Create::CreateLED

private

Enumerator
LED_DEBRIS
LED_SPOT
LED_DOCK
LED_CHECK

Definition at line 53 of file create.h.

Constructor & Destructor Documentation

create::Create::Create	(	RobotModel	model = `RobotModel::CREATE_2`,
		bool	install_signal_handler = `true`
	)

Default constructor.

Calling this constructor Does not attempt to establish a serial connection to the robot.

Parameters

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 54 of file create.cpp.

create::Create::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.

Parameters

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 58 of file create.cpp.

create::Create::~Create ( )

Attempts to disconnect from serial.

Definition at line 65 of file create.cpp.

Member Function Documentation

Create::Matrix create::Create::addMatrices	(	const Matrix &	A,
		const Matrix &	B
	)		const

private

Definition at line 69 of file create.cpp.

bool create::Create::clean ( const create::CleanMode & mode = CLEAN_DEFAULT )

Starts a cleaning mode. Changes mode to MODE_PASSIVE.

Returns: true if successful, false otherwise

Definition at line 361 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.

Returns: true if a successful connection is established, false otherwise.

Definition at line 293 of file create.cpp.

bool create::Create::connected ( ) const

inline

Check if serial connection is active.

Returns: true if successfully connected, false otherwise.

Definition at line 148 of file create.h.

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.

Parameters

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)

Returns: true if successful, false otherwise

Definition at line 590 of file create.cpp.

void create::Create::disconnect ( )

Disconnect from serial.

Definition at line 314 of file create.cpp.

bool create::Create::dock ( ) const

Starts the docking behaviour. Changes mode to MODE_PASSIVE.

Returns: true if successful, false otherwise

Definition at line 365 of file create.cpp.

bool create::Create::drive	(	const float &	xVel,
		const float &	angularVel
	)

Set the forward and angular velocity of Create.

Parameters

xVel	in m/s
angularVel	in rads/s

Returns: true if successful, false otherwise

Definition at line 472 of file create.cpp.

bool create::Create::driveRadius	(	const float &	velocity,
		const float &	radius
	)

Set the average wheel velocity and turning radius of Create.

Parameters

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

Returns: true if successful, false otherwise

Definition at line 379 of file create.cpp.

bool create::Create::driveWheels	(	const float &	leftWheel,
		const float &	rightWheel
	)

Set the velocities for the left and right wheels.

Parameters

leftWheel	velocity in m/s.
rightWheel	veloctiy in m/s.

Returns: true if successful, false otherwise

Definition at line 403 of file create.cpp.

bool create::Create::driveWheelsPwm	(	const float &	leftWheel,
		const float &	rightWheel
	)

Set the direct for the left and right wheels.

Parameters

leftWheel	pwm in the range [-1, 1]
rightWheel	pwm in the range [-1, 1]

Returns: true if successful, false otherwise

Definition at line 451 of file create.cpp.

bool create::Create::enableCheckRobotLED ( const bool & enable )

Set the orange "check Create" LED on/off.

Parameters

enable

Returns: true if successful, false otherwise

Definition at line 554 of file create.cpp.

bool create::Create::enableDebrisLED ( const bool & enable )

Set the blue "debris" LED on/off.

Parameters

enable

Returns: true if successful, false otherwise

Definition at line 530 of file create.cpp.

bool create::Create::enableDockLED ( const bool & enable )

Set the green "dock" LED on/off.

Parameters

enable

Returns: true if successful, false otherwise

Definition at line 546 of file create.cpp.

bool create::Create::enableSpotLED ( const bool & enable )

Set the green "spot" LED on/off.

Parameters

enable

Returns: true if successful, false otherwise

Definition at line 538 of file create.cpp.

float create::Create::getBatteryCapacity ( ) const

Get estimated battery charge capacity.

Returns: in amp-hours

Definition at line 926 of file create.cpp.

float create::Create::getBatteryCharge ( ) const

Get battery's remaining charge.

Returns: value in amp-hours

Definition at line 916 of file create.cpp.

ChargingState create::Create::getChargingState ( ) const

Get the current charging state.

Returns: charging state.

Definition at line 790 of file create.cpp.

float create::Create::getCurrent ( ) const

Get current flowing in/out of battery. A positive current implies Create is charging.

Returns: value in amps

Definition at line 896 of file create.cpp.

uint8_t create::Create::getDirtDetect ( ) const

Get level of the dirt detect sensor.

Returns: value in range [0, 255]

Definition at line 750 of file create.cpp.

uint8_t create::Create::getIRLeft ( ) const

Get value of 8-bit IR character currently being received by left sensor.

Returns: value in range [0, 255]

Definition at line 770 of file create.cpp.

uint8_t create::Create::getIROmni ( ) const

Get value of 8-bit IR character currently being received by omnidirectional sensor.

Returns: value in range [0, 255]

Definition at line 760 of file create.cpp.

uint8_t create::Create::getIRRight ( ) const

Get value of 8-bit IR character currently being received by right sensor.

Returns: value in range [0, 255]

Definition at line 780 of file create.cpp.

float create::Create::getLeftWheelDistance ( ) const

Get the total distance the left wheel has moved.

Returns: distance in meters.

Definition at line 1096 of file create.cpp.

uint16_t create::Create::getLightSignalCenterLeft ( ) const

Get the signal strength from the center-left light sensor.

Returns: value in range [0, 4095]

Definition at line 1016 of file create.cpp.

uint16_t create::Create::getLightSignalCenterRight ( ) const

Get the signal strength from the center-right light sensor.

Returns: value in range [0, 4095]

Definition at line 1046 of file create.cpp.

uint16_t create::Create::getLightSignalFrontLeft ( ) const

Get the signal strength from the front-left light sensor.

Returns: value in range [0, 4095]

Definition at line 1006 of file create.cpp.

uint16_t create::Create::getLightSignalFrontRight ( ) const

Get the signal strength from the front-right light sensor.

Returns: value in range [0, 4095]

Definition at line 1036 of file create.cpp.

uint16_t create::Create::getLightSignalLeft ( ) const

Get the signal strength from the left light sensor.

Returns: value in range [0, 4095]

Definition at line 996 of file create.cpp.

uint16_t create::Create::getLightSignalRight ( ) const

Get the signal strength from the right light sensor.

Returns: value in range [0, 4095]

Definition at line 1026 of file create.cpp.

float create::Create::getMeasuredLeftWheelVel ( ) const

Get the measured velocity of the left wheel.

Returns: velocity in m/s

Definition at line 1104 of file create.cpp.

float create::Create::getMeasuredRightWheelVel ( ) const

Get the measured velocity of the right wheel.

Returns: velocity in m/s

Definition at line 1108 of file create.cpp.

create::CreateMode create::Create::getMode ( )

Get the current mode reported by Create.

Returns: mode.

Definition at line 1120 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.

Returns: number of corrupt packets.

Definition at line 1135 of file create.cpp.

Pose create::Create::getPose ( ) const

Get the estimated pose of Create based on wheel encoders.

Returns: pose (x-y position in meters and yaw angle in Radians)

Definition at line 1127 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.

Returns: requested velocity in m/s.

Definition at line 1112 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.

Returns: requested velocity in m/s.

Definition at line 1116 of file create.cpp.

float create::Create::getRightWheelDistance ( ) const

Get the total distance the right wheel has moved.

Returns: distance in meters.

Definition at line 1100 of file create.cpp.

int8_t create::Create::getTemperature ( ) const

Get the temperature of battery.

Returns: value in Celsius

Definition at line 906 of file create.cpp.

uint64_t create::Create::getTotalPackets ( ) const

Get the total number of serial packets received (including corrupt packets) since first connecting to Create.

Returns: total number of serial packets.

Definition at line 1139 of file create.cpp.

Vel create::Create::getVel ( ) const

Get the estimated velocity of Create based on wheel encoders.

Returns: velocity (x and y in m/s and angular velocity in Radians/s)

Definition at line 1131 of file create.cpp.

float create::Create::getVoltage ( ) const

Get battery voltage.

Returns: value in volts

Definition at line 886 of file create.cpp.

void create::Create::init ( bool install_signal_handler )

private

Definition at line 17 of file create.cpp.

bool create::Create::isCleanButtonPressed ( ) const

Get state of 'clean' button ('play' button on Create 1).

Returns: true if button is pressed, false otherwise.

Definition at line 802 of file create.cpp.

bool create::Create::isCliff ( ) const

Returns: true if there are any cliff detections, false otherwise.

Definition at line 684 of file create.cpp.

bool create::Create::isCliffFrontLeft ( ) const

Returns: true if the front left sensor detects a cliff, false otherwise.

Definition at line 710 of file create.cpp.

bool create::Create::isCliffFrontRight ( ) const

Returns: true if the front right sensor detects a cliff, false otherwise.

Definition at line 730 of file create.cpp.

bool create::Create::isCliffLeft ( ) const

Returns: true if the left sensor detects a cliff, false otherwise.

Definition at line 700 of file create.cpp.

bool create::Create::isCliffRight ( ) const

Returns: true if the right sensor detects a cliff, false otherwise.

Definition at line 720 of file create.cpp.

bool create::Create::isClockButtonPressed ( ) const

Not supported by any firmware!

Definition at line 813 of file create.cpp.

bool create::Create::isDayButtonPressed ( ) const

Get state of 'day' button.

Returns: true if button is pressed, false otherwise.

Definition at line 836 of file create.cpp.

bool create::Create::isDockButtonPressed ( ) const

Get state of 'dock' button ('advance' button on Create 1).

Returns: true if button is pressed, false otherwise.

Definition at line 866 of file create.cpp.

bool create::Create::isHourButtonPressed ( ) const

Get state of 'hour' button.

Returns: true if button is pressed, false otherwise.

Definition at line 846 of file create.cpp.

bool create::Create::isLeftBumper ( ) const

Returns: true if left bumper is pressed, false otherwise.

Definition at line 654 of file create.cpp.

bool create::Create::isLeftWheeldrop ( ) const

Returns: true if a left wheeldrop is detected, false otherwise.

Definition at line 634 of file create.cpp.

bool create::Create::isLightBumperCenterLeft ( ) const

Returns: true if center left light sensor detects an obstacle, false otherwise.

Definition at line 956 of file create.cpp.

bool create::Create::isLightBumperCenterRight ( ) const

Returns: true if center right light sensor detects an obstacle, false otherwise.

Definition at line 966 of file create.cpp.

bool create::Create::isLightBumperFrontLeft ( ) const

Returns: true if front left light sensor detects an obstacle, false otherwise.

Definition at line 946 of file create.cpp.

bool create::Create::isLightBumperFrontRight ( ) const

Returns: true if front right light sensor detects an obstacle, false otherwise.

Definition at line 976 of file create.cpp.

bool create::Create::isLightBumperLeft ( ) const

Returns: true if farthest left light sensor detects an obstacle, false otherwise.

Definition at line 936 of file create.cpp.

bool create::Create::isLightBumperRight ( ) const

Returns: true if farthest right light sensor detects an obstacle, false otherwise.

Definition at line 986 of file create.cpp.

bool create::Create::isMainBrushOvercurrent ( ) const

Todo:: Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns: true if main brush motor is overcurrent.

Definition at line 1076 of file create.cpp.

bool create::Create::isMinButtonPressed ( ) const

Get state of 'min' button.

Returns: true if button is pressed, false otherwise.

Definition at line 856 of file create.cpp.

bool create::Create::isMovingForward ( ) const

Returns: true if Create is moving forward, false otherwise.

Definition at line 1056 of file create.cpp.

bool create::Create::isRightBumper ( ) const

Returns: true if right bumper is pressed, false otherwise.

Definition at line 664 of file create.cpp.

bool create::Create::isRightWheeldrop ( ) const

Returns: true if a right wheeldrop is detected, false otherwise.

Definition at line 644 of file create.cpp.

bool create::Create::isScheduleButtonPressed ( ) const

Not supported by any firmware!

Definition at line 825 of file create.cpp.

bool create::Create::isSideBrushOvercurrent ( ) const

Todo:: Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns: true if side brush motor is overcurrent.

Definition at line 1066 of file create.cpp.

bool create::Create::isSpotButtonPressed ( ) const

Get state of 'spot' button.

Returns: true if button is pressed, false otherwise.

Definition at line 876 of file create.cpp.

bool create::Create::isVirtualWall ( ) const

Returns: true if there is a virtual wall signal is being received.

Definition at line 740 of file create.cpp.

bool create::Create::isWall ( ) const

Returns: true if wall is seen to right of Create, false otherwise.

Definition at line 674 of file create.cpp.

bool create::Create::isWheeldrop ( ) const

Returns: true if a left or right wheeldrop is detected, false otherwise.

Definition at line 624 of file create.cpp.

bool create::Create::isWheelOvercurrent ( ) const

Todo:: Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns: true if drive motors are overcurrent.

Definition at line 1086 of file create.cpp.

void create::Create::onData ( )

private

Definition at line 93 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.

Parameters

songNumber is one of four stored songs in the range [0, 4]

Returns: true if successful, false otherwise

Definition at line 613 of file create.cpp.

bool create::Create::setAllMotors	(	const float &	mainPower,
		const float &	sidePower,
		const float &	vacuumPower
	)

Set the power of all motors.

Parameters

mainPower	in the range [-1, 1]
sidePower	in the range [-1, 1]
vacuumPower	in the range [0, 1]

Returns: true if successful, false otherwise

Definition at line 479 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.

Parameters

day	in range [0, 6]
hour	in range [0, 23]
min	in range [0, 59]

Returns: true if successful, false otherwise

Definition at line 369 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.

Todo:: This function is not yet implemented refer to https://github.com/AutonomyLab/libcreate/issues/7

Parameters

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

Returns: true if successful, false otherwise

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.

Parameters

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]

Returns: true if successful, false otherwise

Definition at line 572 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.

Parameters

dtHistoryLength number of historical samples to use for calculating average dt.

Definition at line 620 of file create.cpp.

bool create::Create::setMainMotor ( const float & power )

Set the power to the main brush motor.

Parameters

power is in the range [-1, 1]

Returns: true if successful, false otherwise

Definition at line 507 of file create.cpp.

bool create::Create::setMode ( const create::CreateMode & mode )

Change Create mode.

Parameters

mode	to change Create to.

Returns: true if successful, false otherwise

Definition at line 325 of file create.cpp.

bool create::Create::setPowerLED	(	const uint8_t &	power,
		const uint8_t &	intensity = `255`
	)

Set the center power LED.

Parameters

power	in range [0, 255] where 0 = green and 255 = red
intensity	in range [0, 255]

Returns: true if successful, false otherwise

Definition at line 562 of file create.cpp.

bool create::Create::setSideMotor ( const float & power )

Set the power to the side brush motor.

Parameters

power is in the range [-1, 1]

Returns: true if successful, false otherwise

Definition at line 511 of file create.cpp.

bool create::Create::setVacuumMotor ( const float & power )

Set the power to the vacuum motor.

Parameters

power is in the range [0, 1]

Returns: true if successful, false otherwise

Definition at line 515 of file create.cpp.

bool create::Create::updateLEDs ( )

private

Definition at line 519 of file create.cpp.

Member Data Documentation

uint8_t create::Create::checkLED

private

Definition at line 70 of file create.h.

std::shared_ptr<create::Data> create::Create::data

protected

Definition at line 102 of file create.h.

uint8_t create::Create::debrisLED

private

Definition at line 67 of file create.h.

uint8_t create::Create::dockLED

private

Definition at line 69 of file create.h.

std::deque<float> create::Create::dtHistory

private

Definition at line 85 of file create.h.

uint8_t create::Create::dtHistoryLength

private

Definition at line 86 of file create.h.

bool create::Create::firstOnData

private

Definition at line 83 of file create.h.

uint8_t create::Create::mainMotorPower

private

Definition at line 62 of file create.h.

float create::Create::measuredLeftVel

private

Definition at line 90 of file create.h.

float create::Create::measuredRightVel

private

Definition at line 91 of file create.h.

CreateMode create::Create::mode

private

Definition at line 74 of file create.h.

RobotModel create::Create::model

private

Definition at line 60 of file create.h.

create::Pose create::Create::pose

private

Definition at line 76 of file create.h.

Matrix create::Create::poseCovar

private

Definition at line 88 of file create.h.

uint8_t create::Create::powerLED

private

Definition at line 71 of file create.h.

uint8_t create::Create::powerLEDIntensity

private

Definition at line 72 of file create.h.

std::chrono::time_point<std::chrono::steady_clock> create::Create::prevOnDataTime

private

Definition at line 84 of file create.h.

uint32_t create::Create::prevTicksLeft

private

Definition at line 79 of file create.h.

uint32_t create::Create::prevTicksRight

private

Definition at line 80 of file create.h.

float create::Create::requestedLeftVel

private

Definition at line 92 of file create.h.

float create::Create::requestedRightVel

private

Definition at line 93 of file create.h.

std::shared_ptr<create::Serial> create::Create::serial

protected

Definition at line 103 of file create.h.

uint8_t create::Create::sideMotorPower

private

Definition at line 63 of file create.h.

uint8_t create::Create::spotLED

private

Definition at line 68 of file create.h.

float create::Create::totalLeftDist

private

Definition at line 81 of file create.h.

float create::Create::totalRightDist

private

Definition at line 82 of file create.h.

uint8_t create::Create::vacuumMotorPower

private

Definition at line 64 of file create.h.

create::Vel create::Create::vel

private

Definition at line 77 of file create.h.

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

Public Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation