C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
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Psiswarm Class Reference
Psiswarm Class The main class to define a robot. More...
#include <psiswarm.h>
Public Member Functions | |
void | init (void) |
Main initialisation routine for the PsiSwarm robot. | |
float | get_uptime (void) |
Get the uptime for the robot. | |
void | pause_user_code (float period) |
Pause the user code for a defined amount of time. | |
void | reset_encoders (void) |
Reset the wheel encoder counters. | |
void | debug (const char *format,...) |
Send a string (in printf format) to the preferred debug stream, specified in settings.h [of overridden programmatically]. |
Detailed Description
Psiswarm Class The main class to define a robot.
Example code for main.cpp:
#include "psiswarm.h" Psiswarm psi; char * program_name = "Example"; char * author_name = "Name"; char * version_name = "0.8"; void handle_switch_event(char switch_state){} void handle_user_serial_message(char * message, char length, char interface) {} int main(){ psi.init(); while(1) { //Do something! } }
Definition at line 98 of file psiswarm.h.
Member Function Documentation
void debug | ( | const char * | format, |
... | |||
) |
Send a string (in printf format) to the preferred debug stream, specified in settings.h [of overridden programmatically].
- Parameters:
-
The string to send to output stream
Definition at line 327 of file psiswarm.cpp.
float get_uptime | ( | void | ) |
Get the uptime for the robot.
- Returns:
- The amount of time in seconds that the MBED has been active since last reset
Definition at line 341 of file psiswarm.cpp.
void init | ( | void | ) |
Main initialisation routine for the PsiSwarm robot.
Set up the GPIO expansion ICs, launch demo mode if button is held
Main initialisation routine for the PsiSwarm robot
Set up the GPIO expansion ICs, launch demo mode if button is held
Definition at line 171 of file psiswarm.cpp.
void pause_user_code | ( | float | period ) |
Pause the user code for a defined amount of time.
- Parameters:
-
The amount of time in seconds to pause user code
Definition at line 346 of file psiswarm.cpp.
void reset_encoders | ( | void | ) |
Reset the wheel encoder counters.
Definition at line 321 of file psiswarm.cpp.
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