AccelerometerObstacleDetector Class Reference

Simple obstacle detector using accelerometer data. More...

#include <AccelerometerObstacleDetector.h>

Inheritance diagram for AccelerometerObstacleDetector:

Collaboration diagram for AccelerometerObstacleDetector:

Public Member Functions
	AccelerometerObstacleDetector (float threshold=3.0f)
	Construct with a deceleration threshold.
void	update (float ax, float ay, float az)
	Update the detector with new acceleration values. Checks for sudden deceleration.
void	setThreshold (float t)
	Set the deceleration threshold (m/s^2).
Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Attributes
float	threshold
float	lastMagnitude = 0.0f
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

Simple obstacle detector using accelerometer data.

Detects sudden deceleration (collision/obstacle) events by monitoring the X/Y/Z acceleration. When a deceleration above a threshold is detected, a callback (with user data) or message is triggered.

Usage Example

AccelerometerObstacleDetector detector(3.0f); // 3 m/s^2 threshold
detected!"); }, nullptr); void loop() { detector.update(ax, ay, az); }

Constructor & Destructor Documentation

AccelerometerObstacleDetector()

AccelerometerObstacleDetector ( float  threshold = 3.0f )

inline

Construct with a deceleration threshold.

Parameters

threshold

Deceleration threshold (m/s^2)

Member Function Documentation

update()

void update ( float  ax, float  ay, float  az  )

inline

Update the detector with new acceleration values. Checks for sudden deceleration.

Parameters

ax	Acceleration in X (m/s^2)
ay	Acceleration in Y (m/s^2)
az	Acceleration in Z (m/s^2)

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

• src/TinyRobotics/sensors/AccelerometerObstacleDetector.h