Serial interface for the main giraff board. More...

#include <Giraff_MainSerialInterface.hpp>

Inheritance diagram for guWhiteboard::Giraff_MainSerialInterface:

Collaboration diagram for guWhiteboard::Giraff_MainSerialInterface:

Public Member Functions
	Giraff_MainSerialInterface ()
	default constructor More...

	Giraff_MainSerialInterface (const std::string &str)
	string constructor (see from_string() below) More...

void	from_string (const std::string &str)
	parse class properties from a string More...

std::string	description () const
	pretty print method for showing the current property values More...

Public Member Functions inherited from wb_giraff_main_serial
	CONTROLLED_PROPERTY (float, velocity) CONTROLLED_PROPERTY(enum Giraff_MovementType
	Giraff maximum velocity , Unit: m/s, Range: 0.0 / 150.0, Setter: Yes, Getter: Yes. More...

movement_type	CONTROLLED_PROPERTY (float, acceleration) CONTROLLED_PROPERTY(float
	Giraff acceleration, Unit: m/s2, Range: 0.0 / 150.0, Setter: Yes, Getter: Yes. More...

movement_type position	CONTROLLED_PROPERTY (enum Giraff_CoordType, coord_type) CONTROLLED_PROPERTY(float
	Changes the distances of position to relative or absolute. More...

movement_type position head_angle	CONTROLLED_PROPERTY (float, max_gear_ratio) CONTROLLED_PROPERTY(float
	Maximum virtual gear ratio, Unit: gr, Range: -1000.0 / 1000.0, Setter: Yes, Getter: Yes. More...

movement_type position head_angle gear_ratio_increments	CONTROLLED_PROPERTY (float, gear_ratio_slowdown_dist) CONTROLLED_PROPERTY(float
	Clothoid decelaration point, Unit: m, Range: -1000.0 / 1000.0, Setter: Yes, Getter: Yes. More...

movement_type position head_angle gear_ratio_increments current_gear_ratio	CONTROLLED_PROPERTY (int16_t, red_button_presses) CONTROLLED_PROPERTY(int16_t
	Number of red button presses, Unit: presses, Range: 0 / 2147483647, Setter: No, Getter: Yes. More...

movement_type position head_angle gear_ratio_increments current_gear_ratio blue_button_presses	CONTROLLED_PROPERTY (int16_t, dial_increments) PROPERTY(int16_t
	Incremental value of dial, Unit: value, Range: -2147483648 / 2147483647, Setter: No, Getter: Yes. More...

movement_type position head_angle gear_ratio_increments current_gear_ratio blue_button_presses padding	CONTROLLED_PROPERTY (int32_t, left_motor_encoder_ticks) CONTROLLED_PROPERTY(int32_t
	Left drive motor encoder pulses, Unit: pulses, Range: -100000000 / 100000000, Setter: Yes, Getter: Yes. More...

movement_type position head_angle gear_ratio_increments current_gear_ratio blue_button_presses padding right_motor_encoder_ticks	CONTROLLED_PROPERTY (int32_t, head_motor_encoder_ticks) CONTROL_BIT(velocity) CONTROL_BIT(movement_type) CONTROL_BIT(acceleration) CONTROL_BIT(position) CONTROL_BIT(coord_type) CONTROL_BIT(head_angle) CONTROL_BIT(max_gear_ratio) CONTROL_BIT(gear_ratio_increments) CONTROL_BIT(gear_ratio_slowdown_dist) CONTROL_BIT(current_gear_ratio) CONTROL_BIT(red_button_presses) CONTROL_BIT(blue_button_presses) CONTROL_BIT(dial_increments) CONTROL_BIT(left_motor_encoder_ticks) CONTROL_BIT(right_motor_encoder_ticks) CONTROL_BIT(head_motor_encoder_ticks) PROPERTY(int16_t
	Head tilt motor encoder pulses, Unit: pulses, Range: -100000000 / 100000000, Setter: Yes, Getter: Yes. More...

movement_type position head_angle gear_ratio_increments current_gear_ratio blue_button_presses padding right_motor_encoder_ticks padding2	wb_giraff_main_serial ()
	stuct constructor More...

Detailed Description

Serial interface for the main giraff board.

This includes the buttons, battery data and motor control.

Examples

Set the giraff motor acceleration

Giraff_MainSerialInterface i; 
float acc = 0.3f;
i.set_a(acc); //Sets the acceleration variable
Giraff_MainSerialInterface_t.set(i); //Sends the set command via the wb to the giraff

Gets the current number of button presses on one of the giraffs front buttons

Giraff_MainSerialInterface i = Giraff_MainSerialInterface_t.get(); //get from the whiteboard
fprintf(stderr, "Number of button presses: %d", i.but0());

Definition at line 46 of file Giraff_MainSerialInterface.hpp.