CarDifferential< N, T, MotorMT > Class Template Reference

Car model with differential drive. The direction is controlled by adjusting the speed of the motors. Even motors are on the left side, odd motors are on the right side. More...

#include <CarDifferential.h>

Inheritance diagram for CarDifferential< N, T, MotorMT >:

Collaboration diagram for CarDifferential< N, T, MotorMT >:

Public Member Functions
void	setPins (int motor, int in1, int in2)
	Set the pins for a specific motor (0=front left, 1=front right, 2=rear left, 3=rear right)
void	setSpeed (float percent)
	Set forward/reverse speed for all motors (percent, -100 to 100). Positive = forward, negative = reverse.
void	setSteeringAgle (float angle)
	Set turn (percent, -100 to 100). Positive = right, negative = left. This slows down the motors on one side to turn the car.
void	setSteeringAngle (Angle angle)
void	end () override
	Stop all motors and reset speed and turn state.
void	setMotorGain (int motor, float gain)
	Set a calibration gain for a specific motor (default 1.0).
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 (size_t index)
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 Member Functions
void	updateMotors ()
	Update all motors based on speed and turn.

Protected Attributes
MotorMT	motors_ [N]
float	motorGain_ [N] = {1.0f, 1.0f, 1.0f, 1.0f}
float	speed_
float	turn_
Protected Attributes inherited from Vehicle< MotorT >
float	speedFactor_ = 1.0f
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

template<size_t N = 4, typename T = float, typename MotorMT = BrushedMotor<T>>
class tinyrobotics::CarDifferential< N, T, MotorMT >

Car model with differential drive. The direction is controlled by adjusting the speed of the motors. Even motors are on the left side, odd motors are on the right side.

This class abstracts a simple N-wheel-drive car:

• N motor count (e.g. 4: front left, front right, rear left, rear right) via HBridge
• No steering servo: direction is controlled by varying motor speeds

Usage Example:

CarDifferentialWD<4> car;
car.setPins(0, 2, 3); // motor 0 (front left): in1=2, in2=3
car.setPins(1, 5, 6); // motor 1 (front right): in1=5, in2=6
car.setPins(2, 8, 9); // motor 2 (rear left): in1=8, in2=9
car.setPins(3, 11, 12); // motor 3 (rear right): in1=11, in2=12
car.setSpeed(60);      // 60% forward
car.setTurn(30);       // turn right by slowing left motors
car.end();            // brake all motors

Member Function Documentation

end()

void end ( )

inlineoverridevirtual

Stop all motors and reset speed and turn state.

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.

setMotorGain()

void setMotorGain ( int  motor, float  gain  )

inline

Set a calibration gain for a specific motor (default 1.0).

Parameters

motor	Motor index (0=front left, 1=front right, 2=rear left, 3=rear right)
gain	Gain factor (e.g., 1.05 for +5% output)

updateMotors()

void updateMotors ( )

inlineprotected

Update all motors based on speed and turn.

• m1: front left
• m2: front right
• m3: rear left
• m4: rear right

To turn right, left motors go slower, right motors go faster (and vice versa).

---

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

• src/TinyRobotics/vehicles/CarDifferential.h