MotorBoat< T, MotorMT, ServoMT > Class Template Reference

Motor boat with 1 drive motor and 1 rudder servo. More...

#include <MotorBoat.h>

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

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

Public Member Functions
void	setPins (int in1, int in2, int rudderPin)
	Set the pins for the drive motor and rudder servo.
void	setSpeed (float percent)
	Set the speed as a percentage (-100 to 100). Positive = forward. This applies the speed scaling factor (speedFactor) before setting throttle.
void	setThrottle (float percent)
	Set throttle (percent, -100 to 100). Positive = forward.
void	setRudder (float angle)
	Set rudder angle (degrees, left positive, right negative).
void	setRudder (Angle angle)
void	end ()
	Reset the vehicle to a safe or neutral state (pure virtual).
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	rudder_
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::MotorBoat< T, MotorMT, ServoMT >

Motor boat with 1 drive motor and 1 rudder servo.

This class abstracts a simple motor boat:

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

Usage Example:

MotorBoat boat;
boat.setPins(5, 6, 9); // in1, in2, rudderPin
boat.setThrottle(70);      // 70% throttle
boat.setRudder(20);        // 20 degrees left
boat.stop();               // brake

Member Function Documentation

end()

void end ( )

inlinevirtual

Reset the vehicle to a safe or neutral state (pure virtual).

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  rudderPin  )

inline

Set the pins for the drive motor and rudder servo.

Parameters

in1	HBridge IN1
in2	HBridge IN2
pwm	HBridge PWM
rudderPin	Servo pin for rudder

setSpeed()

void setSpeed ( float  percent )

inline

Set the speed as a percentage (-100 to 100). Positive = forward. This applies the speed scaling factor (speedFactor) before setting throttle.

Parameters

percent

Speed percentage (-100 to 100)

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

• src/TinyRobotics/vehicles/MotorBoat.h