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Controller Class Reference
controller class More...
#include <Controller.h>
Public Member Functions | |
| Controller (PwmOut &pwm0, PwmOut &pwm1, PwmOut &pwm2, EncoderCounter &counter1, EncoderCounter &counter2, EncoderCounter &counter3, IMU &imu) | |
| Create and initialize a robot controller object. | |
| virtual | ~Controller () |
| Delete the robot controller object and release all allocated resources. | |
| void | setY (float y) |
| Sets the actual y coordinate of the robots position. | |
| float | getX () |
| Gets the actual x coordinate of the robots position. | |
| float | getY () |
| Gets the actual y coordinate of the robots position. | |
Detailed Description
controller class
Definition at line 23 of file Controller.h.
Constructor & Destructor Documentation
| Controller | ( | PwmOut & | pwm0, |
| PwmOut & | pwm1, | ||
| PwmOut & | pwm2, | ||
| EncoderCounter & | counter1, | ||
| EncoderCounter & | counter2, | ||
| EncoderCounter & | counter3, | ||
| IMU & | imu | ||
| ) |
Create and initialize a robot controller object.
- Parameters:
-
pwm0 a pwm output object to set the duty cycle for the first motor. pwm1 a pwm output object to set the duty cycle for the second motor. pwm2 a pwm output object to set the duty cycle for the third motor. counter1
Definition at line 34 of file Controller.cpp.
| ~Controller | ( | ) | [virtual] |
Delete the robot controller object and release all allocated resources.
Definition at line 141 of file Controller.cpp.
Member Function Documentation
| float getX | ( | ) |
Gets the actual x coordinate of the robots position.
- Returns:
- the x coordinate of the position, given in [m].
Definition at line 215 of file Controller.cpp.
| float getY | ( | ) |
Gets the actual y coordinate of the robots position.
- Returns:
- the y coordinate of the position, given in [m].
Definition at line 225 of file Controller.cpp.
| void setY | ( | float | y ) |
Sets the actual y coordinate of the robots position.
- Parameters:
-
y the y coordinate of the position, given in [m].
Definition at line 191 of file Controller.cpp.
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