Synchronous Control of 2 wheels as part of a two wheel robot. More...

#include <CreaBot.h>

Public Member Functions
	Creabot (CreaMot left, CreaMot right, float wheel_diam_cm, float bot_diam_cm)
	Create a Creabot object with 2 wheels.
TWheelsState	getState ()
	Property access to wheel state, indicating which of the wheels are moving.
void	setCallBack (void(*Acallback)(int status))
	Setup a Callback method.
void	setSpeed (float AbotSpeed_cm_sec)
	High level: set bot-speed parameter for all future wheel commands.
void	qMove (BotCmdVerb Acommand, float Aparam)
	High level, queued: move bot according to command and parameter.
void	qMove (BotCmdVerb Acommand, float Aturn_angle_deg, float Adist_cm)
	High level, queued : move bot according to command and parameters.
void	qExecuteNext ()
	Execute and remove the oldest element at the tail of the Queue.
int	qCount ()
	Public access of Queue used Count.
void	iMoveAndWait (BotCmdVerb Acommand, float Aparam)
	High level, immediate: move bot and wait for movement end.
void	iMoveAndWait (BotCmdVerb Acommand, float Aturn_angle_deg, float Adist_cm)
	High level, immediate: move bot and wait for movement end.
void	iMove (BotCmdVerb Acommand, float Aparam)
	High level, immediate: move bot according to command and parameter Composes a BotCommand and passes it to executeCommand().
void	iMove (BotCmdVerb Acommand, float Aturn_angle_deg, float Adist_cm)
	High level, immediate: move bot according to command and parameters Composes a BotCommand and passes it to executeCommand().
void	iExeCommand (BotCommand *cmd)
	High level, immediate: move bot according to prefilled command structures.
void	iWaitEnd ()
	High Level: spends all time with waits, returns only once wheelState = LRWHEELS_STOP, not recommended due its blocking behavior.
void	iWaitEnd (uint32_t max_wait_ms)
	High Level: spends all time with waits, returns only once wheelState = LRWHEELS_STOP, but waits no more than max_wait_ms milli seconds.
void	iStop ()
	High level, immediate: Both wheels get stopped, and turned off updates the wheel state wheelsState, does not call the callback handler! It does not empty the queue.
void	moveForward (float dist_cm)
	Mid level, immediate: advance bot straight forward for a given distance, Preset the speed using setSpeed().
void	moveBackward (float dist_cm)
	Mid level, immediate: reverse bot straight backwards for a given distance, Preset the speed using setSpeed().
void	moveRight (float turn_angle_deg, float center_cm)
	Mid level, immediate: turn bot forward right, around a radius that is center_cm away from the right wheel, Preset the speed using setSpeed().
void	moveLeft (float turn_angle_deg)
	Mid level, immediate: turn bot forward left, around a radius twice the bot size, Same as moveLeft(turn_angle_deg, 0); Preset the speed using setSpeed().
void	moveLeft (float turn_angle_deg, float center_cm)
	Mid level, immediate: turn bot forward left, around a radius that is center_cm away from the left wheel, Preset the speed using setSpeed().
void	moveBackRight (float turn_angle_deg, float center_cm)
	Mid level, immediate: turn bot backwards right, around a radius that is center_cm away from the right wheel, Preset the speed using setSpeed().
void	moveBackLeft (float turn_angle_deg)
	Mid level, immediate: turn bot backwards left, around a radius twice the bot size, Same as moveBackLeft(turn_angle_deg, 0); Preset the speed using setSpeed().
void	moveBackLeft (float turn_angle_deg, float center_cm)
	Mid level, immediate: turn bot backwards left, around a radius that is center_cm away from the left wheel, Preset the speed using setSpeed().
void	moveRotate (float turn_angle_deg)
	Mid level, immediate: turn bot on its place for a given angle.

Detailed Description

Synchronous Control of 2 wheels as part of a two wheel robot.

Handles two instances of CreaMot from motor.h library simultaneously. Using the set distance between the wheels, allows to run pecise curves.

A first set of movement functions starting with qXXX are using command verbs, these commands are queued up in a waiting queue, and are executed one by one in programmed order.

A second set of movement functions starting with iXXX are also using command verbs, however these commands are executed immediately, they override each other if issued while the previous movement still ongoing

A third set of movements functions starting with moveXXXX are provided, each function performs one specific movement, also immediately. So they also override each other, and collide with queued commands.

A callback is supplied to react to the end of all programmed movements.

Example:

 // --- Define the Four PINs & Time of movement used for wheel drive -----
 CreaMot wheelLeft(PA_12, PB_0, PB_1, PB_6); // Declare first the 2 wheels (to avoid to have an object with 8 pins to create)
 CreaMot wheelRight(PA_5,PA_4,PA_3,PA_1);
 CreaBot mybot(&wheelLeft, &WheelRight, 10.0f, 13.0f); // insert the wheels and indicate wheel diameter (10cm) and distance between wheels (13cm)
 
 int main() {
 
     mybot.setSpeed(12.5); // Preset speed to 12.5cm/s
     mybot.iMove(FORWARD,10); // Go forward of 10cm
     mybot.iWaitEnd(); // Wait end of Move
     mybot.iMove(ROTATE,90); // Start rotation of 90° around the center between wheels (two wheels running in same direction at same speed)
     mybot.iMove(BACKWARD,40); // Stop immediately the rotation and go backward of 40cm
     mybot.iWaitEnd(); // Wait end of Backward
     mybot.iMoveAndWait(LEFT,60); // Move Left of 60° in circle, center being the left wheel (off). Wait end of move
     mybot.iWaitEnd();  // Not needed, as already waited... 
     mybot.iMoveAndWait(RIGHT,45, 33); // Move Right of 45°, center being at 33cm of the right wheel. Right wheel moving slower and on a shorter distance than left one. 
     mybot.iMoveAndWait(ROTATE,90);
     mybot.iMove(ROTATE,-90); // Opposite direction.
     mybot.iWaitEnd(6); // with time-out => if after 6s the move is not ended, continue the execution
     mybot.iStop(); // Stop the movement in case it was not ended before ...
     
     // Same with a Queue of command, opposite to the move, receiving a new command will not stop the current execution, but the bot will store it.
     mybot.qMove(FORWARD,10); // Already starting...
     mybot.qMove(BACKWARD,10); // will wait end of previous command to go
     mybot.qMove(ROTATE,120.0);
     mybot.qMove(LEFT, 30, 120);
     mybot.qMove(RIGHT, 25);
     ... // insert other code here that executes while the motors continue to move
     mybot.iWaitEnd(100000); // wait until Queue end... can flush anytime with stopMove...
     mybot.qEmpty(); // before end... Flush the Queue and remove all instructions…
 
     while(1) {
     };
 }

Definition at line 129 of file CreaBot.h.

Constructor & Destructor Documentation

Creabot	(	CreaMot *	left,
		CreaMot *	right,
		float	wheel_diam_cm,
		float	bot_diam_cm
	)

Create a Creabot object with 2 wheels.

Parameters:

[in]	<left>	CreaMot object, corresponding to left wheel of the Creabot
[in]	<right>	CreaMot object, corresponding to right wheel of the Creabot
[in]	<wheel_diam_cm>	Diameter in cm of the wheels (both must be the same diameter)
[in]	<bot_diam_cm>	Distance cm between center of left wheel and center of right wheel

Definition at line 26 of file CreaBot.cpp.

Member Function Documentation

TWheelsState getState ( )

Property access to wheel state, indicating which of the wheels are moving.

Definition at line 141 of file CreaBot.h.

void iExeCommand ( BotCommand * cmd )

High level, immediate: move bot according to prefilled command structures.

Recommended to use iMove() methods to fill the command structure correctly. Branches to the moveXXXX() methods. For details see docs for those methods. Preset the speed using setSpeed(). Warning: Collides with queued commands if called individually.

Parameters:

[in] <*cmd> Pointer to type BotCommand, the prefilled command structure,

Recommended to use iMove() methods to fill the command structure correctly. Branches to the moveXXXX() methods. For details see docs for those methods. Warning: Collides with queued commands if called individually.

Parameters:

[in] <*cmd> Pointer to type BotCommand, the prefilled command structure,

Definition at line 149 of file CreaBot.cpp.

void iMove	(	BotCmdVerb	Acommand,
		float	Aparam
	)

High level, immediate: move bot according to command and parameter Composes a BotCommand and passes it to executeCommand().

Use for commands that need only one parameter: FORWARD, BACKWARD, ROTATE For details refer to docu of moveForward(), moveBackward(), moveRotate(). Preset the speed using setSpeed(). Warning: Collides with queued commands.

Parameters:

[in]	<Acommand>	Requested movement, of type BotCmdVerb.
[in]	<Aparam>	Requested amount, defines angle for ROTATE, or distance for FORWARD, BACKWARD.

Definition at line 135 of file CreaBot.cpp.

void iMove	(	BotCmdVerb	Acommand,
		float	Aturn_angle_deg,
		float	Adist_cm
	)

High level, immediate: move bot according to command and parameters Composes a BotCommand and passes it to executeCommand().

Use for commands that need two parameters: LEFT, RIGHT, BACKLEFT, BACKRIGHT For details refer to docu of moveLeft(), moveRight(), moveBackLeft(), moveBackRight(). Preset the speed using setSpeed(). Warning: Collides with queued commands.

Parameters:

[in]	<Acommand>	Requested movement, of type BotCmdVerb.
[in]	<Aturn_angle_deg>	Requested angle in degrees.
[in]	<Adist_cm>	Requested distance in centimeters.

Definition at line 138 of file CreaBot.cpp.

void iMoveAndWait	(	BotCmdVerb	Acommand,
		float	Aparam
	)

High level, immediate: move bot and wait for movement end.

Simple wrapper for iMove() and iWaitEnd(). Refer to those methods for further docs.

Definition at line 125 of file CreaBot.cpp.

void iMoveAndWait	(	BotCmdVerb	Acommand,
		float	Aturn_angle_deg,
		float	Adist_cm
	)

High level, immediate: move bot and wait for movement end.

Simple wrapper for iMove() and iWaitEnd(). Refer to those methods for further docs.

Definition at line 130 of file CreaBot.cpp.

void iStop ( )

High level, immediate: Both wheels get stopped, and turned off updates the wheel state wheelsState, does not call the callback handler! It does not empty the queue.

Adding new elements into the queue after calling iStop() Would continue using all commands still in the queue.

Definition at line 189 of file CreaBot.cpp.

void iWaitEnd ( )

High Level: spends all time with waits, returns only once wheelState = LRWHEELS_STOP, not recommended due its blocking behavior.

Definition at line 178 of file CreaBot.cpp.

void iWaitEnd ( uint32_t max_wait_ms )

High Level: spends all time with waits, returns only once wheelState = LRWHEELS_STOP, but waits no more than max_wait_ms milli seconds.

Not recommended due its blocking behavior

Definition at line 183 of file CreaBot.cpp.

void moveBackLeft ( float turn_angle_deg )

Mid level, immediate: turn bot backwards left, around a radius twice the bot size, Same as moveBackLeft(turn_angle_deg, 0); Preset the speed using setSpeed().