AirPlane< T, MotorMT, ServoMT > Class Template Reference

Simple fixed-wing airplane model with motor, rudder, elevator, and aileron control. More...

#include <AirPlane.h>

Inheritance diagram for AirPlane< T, MotorMT, ServoMT >:

Collaboration diagram for AirPlane< T, MotorMT, ServoMT >:

Public Types
enum	ControlSurface {   Rudder = 0 , Elevator = 1 , AileronLeft = 2 , AileronRight = 3 ,   NumSurfaces = 4 }

Public Member Functions
void	setPinsMotor (int in1, int in2)
void	setPinRudder (int pin)
void	setPinElevator (int pin)
void	setPinsAilerons (int leftPin, int rightPin)
void	setPinServo (ControlSurface surface, int pin)
void	setThrottle (int percent)
void	setRudder (int angle)
void	setElevator (int angle)
void	setAilerons (int leftAngle, int rightAngle)
void	end ()
bool	isPinsSet () const
	Check if the necessary pins for the vehicle's actuators have been set (pure virtual).
void	setPitch (int angle)
void	setRoll (int angle)
void	setYaw (int angle)
bool	onMessage (const Message< float > &msg) override
	Handle an incoming message (pure virtual).
std::vector< MessageContent >	getControls () const override
MotorMT &	getMotor ()
ServoMT &	getServo (ControlSurface surface)
std::vector< IMotor< T > * >	getMotors () override
Public Member Functions inherited from Vehicle< MotorT >
bool	begin ()
	Initialize the vehicle.
virtual void	end ()=0
	Reset the vehicle to a safe or neutral state (pure virtual).
virtual bool	isPinsSet () const =0
	Check if the necessary pins for the vehicle's actuators have been set (pure virtual).
virtual std::vector< MessageContent >	getControls () const =0
float	getSpeedFactor () const
	Get the speed factor (scaling for speed commands).
void	setSpeedFactor (float factor)
	Set the speed factor (scaling for speed commands).
virtual std::vector< IMotor< MotorT > * >	getMotors ()=0
Public Member Functions inherited from MessageHandler
virtual bool	onMessage (const Message< float > &msg)=0
	Handle an incoming message (pure virtual).
virtual bool	onMessage (const Message< Coordinate< float > > &msg)
virtual bool	onMessage (const Message< GPSCoordinate > &msg)
virtual bool	onMessage (const Message< MotionState3D > &msg)
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
MotorMT	motor_
std::vector< int >	pins_ = std::vector<int>(NumSurfaces, -1)
std::vector< ServoMT >	servos_ = std::vector<ServoMT>(NumSurfaces, ServoMT())
Protected Attributes inherited from Vehicle< MotorT >
float	speedFactor_ = 1.0f
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

template<typename T = float, typename MotorMT = BrushedMotor<T>, typename ServoMT = ServoMotor<T>>
class tinyrobotics::AirPlane< T, MotorMT, ServoMT >

Simple fixed-wing airplane model with motor, rudder, elevator, and aileron control.

This class abstracts the control of a basic RC airplane:

• Motor (throttle) via ServoMotor (ESC)
• Rudder (yaw), Elevator (pitch), and Ailerons (roll) via ServoMotor

Usage Example:

AirPlane plane;
// setup pins
plane.setPinsMotor(5, 6);      // HBridge pins
plane.setPinRudder(10);                         // rudder servo
plane.setPinElevator(11);                     // elevator servo
plane.setPinsAilerons(12, 13); // aileron servos
// control airplane
plane.setThrottle(70);               // 70% throttle
plane.setRudder(20);                 // 20 degrees left
plane.setElevator(-10);              // 10 degrees down
plane.setAilerons(15, -15);          // left up, right down

Member Function Documentation

end()

void end ( )

inlinevirtual

Reset state of all controls

Implements Vehicle< MotorT >.

getControls()

std::vector< MessageContent > getControls ( ) const

inlineoverridevirtual

Implements Vehicle< MotorT >.

getMotors()

std::vector< IMotor< T > * > getMotors ( )

inlineoverridevirtual

Implements Vehicle< MotorT >.

isPinsSet()

bool isPinsSet ( ) const

inlinevirtual

Check if the necessary pins for the vehicle's actuators have been set (pure virtual).

Implements Vehicle< MotorT >.

onMessage()

bool onMessage ( const Message< float > &  msg )

inlineoverridevirtual

Handle an incoming message (pure virtual).

This method should be implemented by derived classes to process messages.

Parameters

msg	The message to handle.

Returns

true if the message was handled successfully, false otherwise.

Implements MessageHandler.

setAilerons()

void setAilerons ( int  leftAngle, int  rightAngle  )

inline

Set aileron angles (degrees, left and right)

setElevator()

void setElevator ( int  angle )

inline

Set elevator angle (degrees, -30 to 30 typical)

setPinElevator()

void setPinElevator ( int  pin )

inline

Attach the elevator servo.

setPinRudder()

void setPinRudder ( int  pin )

inline

Attach the rudder servo.

setPinsAilerons()

void setPinsAilerons ( int  leftPin, int  rightPin  )

inline

Attach the aileron servos.

setPinsMotor()

void setPinsMotor ( int  in1, int  in2  )

inline

Attach the motor HBridge.

setPitch()

void setPitch ( int  angle )

inline

Set pitch (degrees): positive = nose up, negative = nose down

setRoll()

void setRoll ( int  angle )

inline

Set roll (degrees): positive = left wing up, negative = right wing up

setRudder()

void setRudder ( int  angle )

inline

Set rudder angle (degrees, -30 to 30 typical)

setThrottle()

void setThrottle ( int  percent )

inline

Set throttle (0-100%)

setYaw()

void setYaw ( int  angle )

inline

Set yaw (degrees): positive = nose left, negative = nose right

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

• src/TinyRobotics/vehicles/AirPlane.h