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

#include <wb_giraff_main_serial.h>

Inheritance diagram for wb_giraff_main_serial:

Collaboration diagram for wb_giraff_main_serial:

Public Member Functions
	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.

Definition at line 38 of file wb_giraff_main_serial.h.

Constructor & Destructor Documentation

◆ wb_giraff_main_serial()

movement_type position head_angle gear_ratio_increments current_gear_ratio blue_button_presses padding right_motor_encoder_ticks padding2 wb_giraff_main_serial::wb_giraff_main_serial ( )

inline

stuct constructor

Definition at line 149 of file wb_giraff_main_serial.h.

Member Function Documentation

◆ CONTROLLED_PROPERTY() [1/9]

movement_type position wb_giraff_main_serial::CONTROLLED_PROPERTY	(	enum	Giraff_CoordType,
		coord_type
	)

Changes the distances of position to relative or absolute.

Also controls command preemption when in absolute mode by allowing 4 buffered commands to be sent. See Giraff_CoordType, Setter: Yes, Getter: Yes Current head tilt angle, Unit: rad, Range: 0.0872664 / 2.0943935, Setter: Yes, Getter: Yes

◆ CONTROLLED_PROPERTY() [2/9]

movement_type wb_giraff_main_serial::CONTROLLED_PROPERTY	(	float	,
		acceleration
	)

Giraff acceleration, Unit: m/s2, Range: 0.0 / 150.0, Setter: Yes, Getter: Yes.

Distance or angle to move, Unit: m or deg, Range: -1000.0 / 1000.0, Setter: Yes, Getter: Yes

◆ CONTROLLED_PROPERTY() [3/9]

movement_type position head_angle gear_ratio_increments wb_giraff_main_serial::CONTROLLED_PROPERTY	(	float	,
		gear_ratio_slowdown_dist
	)

Clothoid decelaration point, Unit: m, Range: -1000.0 / 1000.0, Setter: Yes, Getter: Yes.

Current virtual gear ratio, Unit: gr, Range: -1000.0 / 1000.0, Setter: No, Getter: Yes

◆ CONTROLLED_PROPERTY() [4/9]

movement_type position head_angle wb_giraff_main_serial::CONTROLLED_PROPERTY	(	float	,
		max_gear_ratio
	)

Maximum virtual gear ratio, Unit: gr, Range: -1000.0 / 1000.0, Setter: Yes, Getter: Yes.

Viritual gear rate of change, Unit: gr/m, Range: 1000.0, Setter: Yes, Getter: Yes

◆ CONTROLLED_PROPERTY() [5/9]

wb_giraff_main_serial::CONTROLLED_PROPERTY	(	float	,
		velocity
	)

Giraff maximum velocity , Unit: m/s, Range: 0.0 / 150.0, Setter: Yes, Getter: Yes.

The type of movement ot be done. See Giraff_MovementType, Setter: Yes, Getter: Yes

◆ CONTROLLED_PROPERTY() [6/9]

movement_type position head_angle gear_ratio_increments current_gear_ratio blue_button_presses wb_giraff_main_serial::CONTROLLED_PROPERTY	(	int16_t	,
		dial_increments
	)

Incremental value of dial, Unit: value, Range: -2147483648 / 2147483647, Setter: No, Getter: Yes.

Fix alignment

◆ CONTROLLED_PROPERTY() [7/9]

movement_type position head_angle gear_ratio_increments current_gear_ratio wb_giraff_main_serial::CONTROLLED_PROPERTY	(	int16_t	,
		red_button_presses
	)

Number of red button presses, Unit: presses, Range: 0 / 2147483647, Setter: No, Getter: Yes.

Number of green button presses, Unit: presses, Range: 0 / 2147483647, Setter: No, Getter: Yes

◆ CONTROLLED_PROPERTY() [8/9]

movement_type position head_angle gear_ratio_increments current_gear_ratio blue_button_presses padding right_motor_encoder_ticks wb_giraff_main_serial::CONTROLLED_PROPERTY	(	int32_t	,
		head_motor_encoder_ticks
	)

Head tilt motor encoder pulses, Unit: pulses, Range: -100000000 / 100000000, Setter: Yes, Getter: Yes.

Charger/battery data, Unit: multiple, Range: See individuals, Setter: No, Getter: Yes Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Control bit (mask) Fix alignment

◆ CONTROLLED_PROPERTY() [9/9]

movement_type position head_angle gear_ratio_increments current_gear_ratio blue_button_presses padding wb_giraff_main_serial::CONTROLLED_PROPERTY	(	int32_t	,
		left_motor_encoder_ticks
	)

Left drive motor encoder pulses, Unit: pulses, Range: -100000000 / 100000000, Setter: Yes, Getter: Yes.

Right drive motor encoder pulses, Unit: pulses, Range: -100000000 / 100000000, Setter: Yes, Getter: Yes

The documentation for this struct was generated from the following file:

typeClassDefs/wb_giraff_main_serial.h

Public Member Functions