#include <DirectionalOdometer.hpp>

Inheritance diagram for DirectionalOdometer:

Collaboration diagram for DirectionalOdometer:

Public Member Functions
	DirectionalOdometer (Runtime &runtime, uint8_t pulsePin, uint8_t forwardWhenLowPin, InterruptCallback callback, unsigned long pulsesPerMeter)
	Constructs an odometer that can measure distance, speed and direction. More...

	DirectionalOdometer (Runtime &runtime, DirectionalOdometerPins pins, InterruptCallback callback, unsigned long pulsesPerMeter)
	Constructs an odometer that can measure distance, speed and direction. More...

void	reset () override
	Resets the total travelled distance and speed to `0` More...

void	update () override
	Conducts the distance and speed measurements. More...

long	getDistance () override
	Returns the travelled distance in centimeters where sign can indicate direction if there is hardware support. More...

float	getSpeed () override
	Returns the current speed in meters/sec where sign can indicate direction if there is hardware support. More...

bool	providesDirection () const override
	Return whether the sensor is capable of inferring the direction of movement. More...

int8_t	getDirection () const
	Get the direction of movement. More...

Public Member Functions inherited from DirectionlessOdometer
	DirectionlessOdometer (Runtime &runtime, uint8_t pulsePin, InterruptCallback callback, unsigned long pulsesPerMeter)
	Constructs an odometer that can measure distance, speed but not direction. More...

	~DirectionlessOdometer () override=default

long	getDistance () override
	Returns the travelled distance in centimeters where sign can indicate direction if there is hardware support. More...

float	getSpeed () override
	Returns the current speed in meters/sec where sign can indicate direction if there is hardware support. More...

bool	isAttached () const override
	Returns whether the sensor has been properly attached. More...

bool	providesDirection () const override
	Return whether the sensor is capable of inferring the direction of movement. More...

Public Member Functions inherited from Odometer
virtual	~Odometer ()=default

Additional Inherited Members
Protected Attributes inherited from DirectionlessOdometer
const float	mPulsesPerMeterRatio

volatile unsigned long	mPulsesCounter { 0 }

volatile unsigned long	mPreviousPulse { 0 }

volatile unsigned long	mDt { 0 }

Detailed Description

A class to represent directional Odometers. These sensors typically expose three signals lines, as opposed to two in the directionless counterparts. Depending on the state of this third signal, the direction of movement can be inferred.

Definition at line 32 of file DirectionalOdometer.hpp.

Constructor & Destructor Documentation

◆ DirectionalOdometer() [1/2]

DirectionalOdometer::DirectionalOdometer	(	Runtime &	runtime,
		uint8_t	pulsePin,
		uint8_t	forwardWhenLowPin,
		InterruptCallback	callback,
		unsigned long	pulsesPerMeter
	)

Constructs an odometer that can measure distance, speed and direction.

Parameters

runtime	The runtime environment you want to run the class for
pulsePin	The pin that receives the pulses
forwardWhenLowPin	The pin that is set to LOW when moving forward
callback	The callback to be invoked when a pulse is received (see example)
pulsesPerMeter	The amount of odometer pulses that constitute a meter

Example:

unsigned short ODOMETER_PIN = 32;
unsigned short DIRECTION_PIN = 8;
unsigned long PULSES_PER_METER = 40;
ArduinoRuntime arduinoRuntime;
 
DirectionalOdometer odometer(arduinoRuntime,
                             ODOMETER_PIN,
                             DIRECTION_PIN,
                             []() { odometer.update(); },
                             PULSES_PER_METER);

Definition at line 12 of file DirectionalOdometer.cpp.

◆ DirectionalOdometer() [2/2]

DirectionalOdometer::DirectionalOdometer	(	Runtime &	runtime,
		DirectionalOdometerPins	pins,
		InterruptCallback	callback,
		unsigned long	pulsesPerMeter
	)

Constructs an odometer that can measure distance, speed and direction.

Parameters

pins	The `DirectionalOdometerPins` object with the pins of the odometer
callback	The callback to be invoked when a pulse is received (see example)
pulsesPerMeter	The amount of odometer pulses that constitute a meter

Example:

unsigned long PULSES_PER_METER = 40;
ArduinoRuntime arduinoRuntime;
 
DirectionalOdometer leftOdometer(arduinoRuntime,
                                 smartcarlib::pins::v2::leftOdometerPins,
                                 []() { odometer.update(); },
                                 PULSES_PER_METER);

Definition at line 26 of file DirectionalOdometer.cpp.

Member Function Documentation

◆ getDirection()

int8_t DirectionalOdometer::getDirection ( ) const

Get the direction of movement.

Returns: 1 if travelling forward -1 if travelling backward

Example:

unsigned short direction = odometer.getDirection();

Definition at line 83 of file DirectionalOdometer.cpp.

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◆ getDistance()

long DirectionalOdometer::getDistance ( )

overridevirtual

Returns the travelled distance in centimeters where sign can indicate direction if there is hardware support.

Returns: The travelled distance in centimeters

Example:

unsigned long travelledDistance = odometer.getDistance();

Implements Odometer.

Definition at line 72 of file DirectionalOdometer.cpp.

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◆ getSpeed()

float DirectionalOdometer::getSpeed ( )

overridevirtual

Returns the current speed in meters/sec where sign can indicate direction if there is hardware support.

Returns: The speed in meters/sec

Example:

float speed = odometer.getSpeed();

Implements Odometer.

Definition at line 78 of file DirectionalOdometer.cpp.

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◆ providesDirection()

bool DirectionalOdometer::providesDirection ( ) const

overridevirtual

Return whether the sensor is capable of inferring the direction of movement.

Returns: true if the sensor supports direction readings otherwise false

Example:

bool directional = odometer.providesDirection();

Implements Odometer.

Definition at line 89 of file DirectionalOdometer.cpp.

◆ reset()

void DirectionalOdometer::reset ( )

overridevirtual

Resets the total travelled distance and speed to 0

Reimplemented from DirectionlessOdometer.

Definition at line 34 of file DirectionalOdometer.cpp.

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◆ update()

void STORED_IN_RAM DirectionalOdometer::update ( )

overridevirtual

Conducts the distance and speed measurements.

Updates the current dt with the time difference between the last two pulses and increases the pulse counter. Do not call it directly in your sketch! Instead, pass it in a lambda to the constructor.

Reimplemented from DirectionlessOdometer.

Definition at line 40 of file DirectionalOdometer.cpp.

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