CarAckerman< T, MotorMT, ServoMT > Class Template Reference

Car with Ackerman steering and single drive motor. More...

#include <CarAckerman.h>

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

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

Public Member Functions
void	setPins (int in1, int in2, int steeringPin)
	Set the pins for the drive motor and steering servo.
void	setSpeed (float percent)
	Set drive speed (percent, -100 to 100). Positive = forward.
void	setSteeringAngle (float angle)
	Set steering angle (degrees, left positive, right negative).
void	setSteeringAngle (Angle angle)
Angle	getSteeringAngle () const
float	getSpeed () const
void	end () override
bool	isPinsSet () const
	Check if the necessary pins for the vehicle's actuators have been set (pure virtual).
bool	onMessage (const Message< float > &msg) override
	Handle an incoming message (pure virtual).
std::vector< MessageContent >	getControls () const override
MotorMT &	getMotor ()
ServoMT &	getServo ()
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_
ServoMT	steering_
float	speed_ = 0
float	angleDeg_ = 0
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::CarAckerman< T, MotorMT, ServoMT >

Car with Ackerman steering and single drive motor.

This class abstracts a simple car:

• 1 drive motor (HBridge)
• 1 steering servo (ServoMotor)

Usage Example:

CarAckerman car;
car.setPins(5, 6, 9); // in1, in2, steeringPin
car.setSpeed(60);         // 60% forward
car.setSteering(30);      // 30 degrees left
car.end();               // brake

Member Function Documentation

end()

void end ( )

inlineoverridevirtual

Stop the car (brake motor)

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.

setPins()

void setPins ( int  in1, int  in2, int  steeringPin  )

inline

Set the pins for the drive motor and steering servo.

Parameters

in1	HBridge IN1
in2	HBridge IN2
pwm	HBridge PWM
steeringPin	Servo pin for steering

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

• src/TinyRobotics/vehicles/CarAckerman.h