#include <ArRobotConfigPacketReader.h>
Public Member Functions | |
| ArRobotConfigPacketReader (ArRobot *robot, bool onlyOneRequest=false, ArFunctor *packetedArrivedCB=NULL) | |
| Constructor. | |
| std::string | buildString (void) const |
| Builds a string of the info. | |
| std::string | buildStringMovement (void) const |
| Builds a string of the movement info. | |
| void | connected (void) |
| internal, connection callback | |
| int | getAux1Baud (void) const |
| Gets the host baud number, look at the manual for what these mean. | |
| int | getAux2Baud (void) const |
| Returns the Aux2 baud number, look at the manual for what these mean. | |
| int | getAux3Baud (void) const |
| Returns the Aux3 baud number, look at the manual for what these mean. | |
| int | getDriftFactor (void) const |
| Returns the DriftFactor value (see the manual). | |
| const char * | getFirmwareVersion (void) const |
| Gets the firmware version. | |
| int | getFrontBumps (void) const |
| Returns the number of front bumpers. | |
| bool | getFrontSonar (void) const |
| Gets whether or not the robot has front sonar. | |
| int | getGyroCCW (void) const |
| Gets the gyro CCW value. | |
| int | getGyroCW (void) const |
| Gets the gyro CW value. | |
| int | getGyroRateLimit (void) const |
| Gets the port the PDB is on. | |
| int | getGyroType (void) const |
| Returns if the robot has a gyro or not. | |
| int | getHasCharger (void) const |
| Returns whether the robot has a charger. | |
| bool | getHasGripper (void) const |
| Gets the gripper value (whether or not the robot has a gripper). | |
| bool | getHasGyro (void) const |
| Returns if the robot has a gyro or not. | |
| char | getHighTemperatureShutdown (void) const |
| Gets the high temperature threshold. | |
| int | getHostBaud (void) const |
| Gets the host baud number, look at the manual for what these mean. | |
| int | getJoyRotVel (void) const |
| Returns the joystick rotational velocity. | |
| int | getJoyVel (void) const |
| Returns the joystick translational velocity. | |
| int | getKinematicsDelay (void) const |
| Gets the kinematics delay. | |
| int | getLatAccel (void) const |
| Returns the lateral acceleration. | |
| int | getLatAccelTop (void) const |
| Gets the absolute maximum lateral acceleration in mm/sec/sec (cannot be set above this in firmware or through software). | |
| int | getLatDecel (void) const |
| Returns the lateral deceleration. | |
| int | getLatVelMax (void) const |
| Returns the current maximum lateral velocity (mm/sec) (can be set). | |
| int | getLatVelTop (void) const |
| Gets the absolute maximum lateral velocity in mm/sec (cannot be set above this in firmware or through software). | |
| int | getLowBattery (void) const |
| Gets the low battery beeping indicating voltage times 10. | |
| const char * | getName (void) const |
| Gets the name of the robot. | |
| bool | getNormalMPacs (void) const |
| Returns if the robot is using normal packets or new style packets. | |
| unsigned char | getPDBPort (void) const |
| Gets the port the PDB is on. | |
| int | getPowerBits (void) const |
| Gets the power bits. | |
| int | getPowerbotChargeThreshold (void) const |
| Gets the powerbot charge threshold. | |
| int | getPwmMax (void) const |
| Gets the maximum PWM the robot will have (stallval cannot be above this). | |
| int | getRearBumps (void) const |
| Returns the number of rear bumpers. | |
| bool | getRearSonar (void) const |
| Gets whether or not the robot has rear sonar. | |
| bool | getResetBaud (void) const |
| Returns the baud rate. | |
| int | getRevCount (void) const |
| Gets the revcount. | |
| int | getRotAccel (void) const |
| Returns the rotational acceleration. | |
| int | getRotAccelTop (void) const |
| Gets the absolute maximum rotational acceleration in deg/sec/sec (cannot be set above this in firmware or through software). | |
| int | getRotDecel (void) const |
| Returns the rotational deceleration. | |
| int | getRotKI (void) const |
| Returns the rotational KI value (look at the manual). | |
| int | getRotKP (void) const |
| Returns the rotational KP value (look at the manual). | |
| int | getRotKV (void) const |
| Returns the rotational KV value (look at the manual). | |
| int | getRotVelMax (void) const |
| Returns the current maximum rotational velocity (deg/sec) (can be set). | |
| int | getRotVelTop (void) const |
| Gets the absolute maximum rotational velocity in deg/sec (cannot be set above this in firmware or through software). | |
| const char * | getSerialNumber (void) const |
| Gets the serial number of the robot. | |
| int | getShutdownVoltage (void) const |
| Returns the voltage (x10) that the robot will shut down the computer at. | |
| int | getSipCycleTime (void) const |
| Gets the cycle time in ms of the motor packets. | |
| int | getSonarCycle (void) const |
| Returns the number of ms the sonar cycle is (default is 40). | |
| int | getStallCount (void) const |
| Returns the stallcount (how many 10ms increments robot stops after stall). | |
| int | getStallVal (void) const |
| Returns the stallval (pwms at which robot stalls). | |
| const char * | getSubType (void) const |
| Gets the subtype of robot. | |
| int | getTicksMM (void) const |
| Returns the Ticks/MM for the robot. | |
| int | getTransAccel (void) const |
| Returns the translational acceleration. | |
| int | getTransAccelTop (void) const |
| Gets the absolute maximum translational acceleration in mm/sec/sec (cannot be set above this in firmware or through software). | |
| int | getTransDecel (void) const |
| Returns the translational deceleration. | |
| int | getTransKI (void) const |
| Returns the translational KI value (look at the manual). | |
| int | getTransKP (void) const |
| Returns the translational KP value (look at the manual). | |
| int | getTransKV (void) const |
| Returns the translational KV value (look at the manual). | |
| int | getTransVelMax (void) const |
| Returns the current maximum translational velocity (mm/sec) (can be set). | |
| int | getTransVelTop (void) const |
| Gets the absolute maximum translational velocity in mm/sec (cannot be set above this in firmware or through software). | |
| const char * | getType (void) const |
| Gets the type of robot. | |
| int | getWatchdog (void) const |
| Gets the watchdog (how many ms after command robot stops). | |
| bool | hasPacketArrived (void) const |
| See if we've gotten the data. | |
| bool | hasPacketBeenRequested (void) const |
| See if we've requested a packet yet. | |
| void | log (void) const |
| Log the config. | |
| void | logMovement (void) const |
| Log the movement part of the config config. | |
| bool | packetHandler (ArRobotPacket *packet) |
| internal, packet handler | |
| bool | requestPacket (void) |
| Request a packet.. true if we could, false if onlyOneRequest already done. | |
| ~ArRobotConfigPacketReader () | |
| Destructor. | |
Protected Attributes | |
| int | myAux1Baud |
| int | myAux2Baud |
| int | myAux3Baud |
| ArFunctorC< ArRobotConfigPacketReader > | myConnectedCB |
| int | myDriftFactor |
| std::string | myFirmwareVersion |
| int | myFrontBumps |
| bool | myFrontSonar |
| int | myGyroCCW |
| int | myGyroCW |
| int | myGyroRateLimit |
| int | myGyroType |
| int | myHasCharger |
| bool | myHasGripper |
| bool | myHasGyro |
| char | myHighTemperatureShutdown |
| int | myHostBaud |
| int | myJoyRotVel |
| int | myJoyVel |
| int | myKinematicsDelay |
| ArTime | myLastPacketRequest |
| int | myLatAccel |
| int | myLatAccelTop |
| int | myLatDecel |
| int | myLatVelMax |
| int | myLatVelTop |
| int | myLowBattery |
| std::string | myName |
| bool | myNormalMPacs |
| bool | myOnlyOneRequest |
| bool | myPacketArrived |
| ArFunctor * | myPacketArrivedCB |
|
ArRetFunctor1C< bool, ArRobotConfigPacketReader, ArRobotPacket * > | myPacketHandlerCB |
| bool | myPacketRequested |
| unsigned char | myPDBPort |
| int | myPowerBits |
| int | myPowerbotChargeThreshold |
| int | myPwmMax |
| int | myRearBumps |
| bool | myRearSonar |
| bool | myResetBaud |
| int | myRevCount |
| ArRobot * | myRobot |
| int | myRotAccel |
| int | myRotAccelTop |
| int | myRotDecel |
| int | myRotKI |
| int | myRotKP |
| int | myRotKV |
| int | myRotVelMax |
| int | myRotVelTop |
| std::string | mySerialNumber |
| int | myShutdownVoltage |
| int | mySipCycleTime |
| int | mySonarCycle |
| int | myStallCount |
| int | myStallVal |
| std::string | mySubType |
| int | myTicksMM |
| int | myTransAccel |
| int | myTransAccelTop |
| int | myTransDecel |
| int | myTransKI |
| int | myTransKP |
| int | myTransKV |
| int | myTransVelMax |
| int | myTransVelTop |
| std::string | myType |
| int | myWatchdog |
1.5.1