DifferentialControl Class Reference

#include <DifferentialControl.hpp>

Inheritance diagram for DifferentialControl:

Collaboration diagram for DifferentialControl:

Public Member Functions
	DifferentialControl (Motor &leftMotor, Motor &rightMotor)
	Constructs an Ackerman way of controlling the vehicle. More...
void	setAngle (int angle) override
	Sets the driving angle in degrees [-90, 90]. More...
void	setSpeed (int speed) override
	Sets the driving speed as percentage of the total motor speed where the sign represents the direction of movement [-100, 100]. More...
void	overrideMotorSpeed (int firstMotorSpeed, int secondMotorSpeed) override
	Set the motor speed individually as a percentage of the motors` total power. More...
Public Member Functions inherited from Control
virtual	~Control ()=default

Detailed Description

Class to represent controling a vehicle by applying different speed on each side, like a tank.

Definition at line 11 of file DifferentialControl.hpp.

Constructor & Destructor Documentation

DifferentialControl()

DifferentialControl::DifferentialControl	(	Motor &	leftMotor,
		Motor &	rightMotor
	)

Constructs an Ackerman way of controlling the vehicle.

Parameters

steering	The motor that controls the steering
throttling	The motor that controls the throttling

Example:

BrushedMotor leftMotor(smartcarlib::pins::v2::leftMotorPins);
BrushedMotor rightMotor(smartcarlib::pins::v2::rightMotorPins);
DifferentialControl control(leftMotor, rightMotor);

Definition at line 9 of file DifferentialControl.cpp.

Member Function Documentation

overrideMotorSpeed()

void DifferentialControl::overrideMotorSpeed ( int  firstMotorSpeed, int  secondMotorSpeed  )

overridevirtual

Set the motor speed individually as a percentage of the motors` total power.

Use this with caution.

Parameters

firstMotorSpeed	The first motor speed [-100, 100]
secondMotorSpeed	The second motor speed [-100, 100]

Example:

control.overrideMotorSpeed(100, -100); // Make the car spin around clockwise

Implements Control.

Definition at line 49 of file DifferentialControl.cpp.

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setAngle()

void DifferentialControl::setAngle ( int  angle )

overridevirtual

Sets the driving angle in degrees [-90, 90].

Parameters

angle

The driving angle

Example:

control.setAngle(90);

Implements Control.

Definition at line 17 of file DifferentialControl.cpp.

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setSpeed()

void DifferentialControl::setSpeed ( int  speed )

overridevirtual

Sets the driving speed as percentage of the total motor speed where the sign represents the direction of movement [-100, 100].

Parameters

speed

The driving speed

Example:

control.setSpeed(-100); // Full speed backward

Implements Control.

Definition at line 23 of file DifferentialControl.cpp.

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

• src/control/differential/DifferentialControl.hpp
• src/control/differential/DifferentialControl.cpp