Create Apeiros class. More...

#include <Apeiros.h>

Public Member Functions
	Apeiros (PinName tx, PinName rx, int leftMotorPwmOffset, int rightMotorPwmOffset)
	Create Apeiros instance.
void	Begin (void)
	Begin using Apeiros class.
bool	IsSerialDataAvailable (void)
	Is Serial data available to be parsed.
void	ParseUartData (void)
	Parse available serial UART data.
void	SetBuzzerTone (int buzzerTone)
	Set piezo buzzer tone.
void	SetMotorSpeed (int leftMotorSpeed, int rightMotorSpeed)
	Set left and right motor speeds.
void	SetGripperPosition (int pulseWidth_us)
	Set servo gripper position.
int	GetLeftEncoder (void)
	Return integer count for left wheel encoder.
int	GetRightEncoder (void)
	Return integer count for right wheel encoder.
void	ResetWheelEncoders (void)
	Reset both left & right wheel encoder counts.
Data Fields
DigitalIn	leftFrontIR
	DigitalIn object for Left Front IR Sensor.
DigitalIn	centerFrontIR
	DigitalIn object for Center Front IR Sensor.
DigitalIn	rightFrontIR
	DigitalIn object for Right Front IR Sensor.
DigitalIn	leftRearIR
	DigitalIn object for Left Rear IR Sensor.
DigitalIn	rightRearIR
	DigitalIn object for Right Rear IR Sensor.
AnalogIn	ad_0
	ad_0 AnalogIn object.
AnalogIn	ad_1
	ad_1 AnalogIn object.
AnalogIn	ad_2
	ad_2 AnalogIn object.
AnalogIn	ad_3
	ad_3 AnalogIn object.
AnalogIn	ad_4
	ad_4 AnalogIn object.
AnalogIn	ad_5
	ad_5 AnalogIn object.

Detailed Description

Create Apeiros class.

Parameters:

Apeiros class

Definition at line 48 of file Apeiros.h.

Constructor & Destructor Documentation

Apeiros	(	PinName	tx,
		PinName	rx,
		int	leftMotorPwmOffset,
		int	rightMotorPwmOffset
	)

Create Apeiros instance.

Parameters:

tx	specified as PinName of UART Tx pin. Use SERIAL_TX as default. Use PA_9 for wireless shield.
rx	specified as PinName of UART Rx pin. Use SERIAL_RX as deafult. Use PA_10 for wireless shield.
leftMotorPwmOffset	specified as integer value from 0-150. Use 100 as default.
rightMotorPwmOffset	specified as integer value from 0-150. Use 100 as default.

The PwmOffsets are used to eliminate the deadband for both the left & right motor, so that each motor begins to rotate when motor speeds are specified as aperiros.SetMotorSpeed(1,1).

Pass a zero for each PwmOffset parameter and then use SetMotorSpeed function to find the leftMotorPwmOffset & rightMotorPwmOffset values.

You have found the PwmOffset value when the respective motor goes from not rotating to starting rotation.

Definition at line 7 of file Apeiros.cpp.

Member Function Documentation

void Begin ( void )

Begin using Apeiros class.

Must be called before using class functions.

Definition at line 63 of file Apeiros.cpp.

int GetLeftEncoder ( void )

Return integer count for left wheel encoder.

Returns:: Integer value for left wheel encoder count.

Definition at line 545 of file Apeiros.cpp.

int GetRightEncoder ( void )

Return integer count for right wheel encoder.

Returns:: Integer value for right wheel encoder count.

Definition at line 553 of file Apeiros.cpp.

bool IsSerialDataAvailable ( void )

Is Serial data available to be parsed.

Returns:: 1 if serial data is available, 0 if no serial data has been received

Definition at line 235 of file Apeiros.cpp.

void ParseUartData ( void )

Parse available serial UART data.

Definition at line 244 of file Apeiros.cpp.

void ResetWheelEncoders ( void )

Reset both left & right wheel encoder counts.

Definition at line 561 of file Apeiros.cpp.

void SetBuzzerTone ( int buzzerTone )

Set piezo buzzer tone.

Parameters:

buzzerTone specified as an integer value(int) from 0-100.

Definition at line 307 of file Apeiros.cpp.

void SetGripperPosition ( int pulseWidth_us )

Set servo gripper position.

Parameters:

pulseWidth_us specified as an integer value(int) from MIN_GRIPPER_PULSE(1000) to MAX_GRIPPER_PULSE(2200).

Definition at line 534 of file Apeiros.cpp.

void SetMotorSpeed	(	int	leftMotorSpeed,
		int	rightMotorSpeed
	)

Set left and right motor speeds.

Parameters:

leftMotorSpeed	specified as an integer value(int) from 0 to (255-leftMotorPwmOffset). Use a preceeding negative sign to reverse motor rotation.
rightMotorSpeed	specified as an integer value(int) from 0 to (255-rightMotorPwmOffset). Use a preceeding negative sign to reverse motor rotation.

For example, if leftMotorPwmOffset = 95 then valid left motor speed range is 0 to 165. Use a preceeding negative sign to reverse motor rotation.

Drive robot forward with apeiros.SetMotorSpeed(65,65).

Drive robot in reverse with apeiros.SetMotorSpeed(-65,-65).

Spin robot clockwise with apeiros.SetMotorSpeed(65,-65).

Spin robot counterclockwise with apeiros.SetMotorSpeed(-65,65).

Definition at line 362 of file Apeiros.cpp.