DirectionlessOdometer Class Reference

#include <DirectionlessOdometer.hpp>

Inheritance diagram for DirectionlessOdometer:

Collaboration diagram for DirectionlessOdometer:

Public Member Functions
	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...
virtual void	reset ()
	Resets the total travelled distance and speed to 0 More...
virtual void	update ()
	Conducts the distance and speed measurements. More...
Public Member Functions inherited from Odometer
virtual	~Odometer ()=default

Protected Attributes
const float	mPulsesPerMeterRatio
volatile unsigned long	mPulsesCounter { 0 }
volatile unsigned long	mPreviousPulse { 0 }
volatile unsigned long	mDt { 0 }

Detailed Description

A class to represent the common - directionless - Odometers (speed encoders) that can be used to primarily measure the travelled distance of the car as well as its speed.

Definition at line 14 of file DirectionlessOdometer.hpp.

Constructor & Destructor Documentation

DirectionlessOdometer()

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

Constructs an odometer that can measure distance, speed but not direction.

Parameters

runtime	The runtime environment you want to run the class for
pulsePin	The pin that receives the pulses
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 long PULSES_PER_METER = 110;
ArduinoRuntime arduinoRuntime;
 
DirectionlessOdometer odometer(arduinoRuntime,
                               ODOMETER_PIN,
                               []() { odometer.update(); },
                               PULSES_PER_METER);

Definition at line 14 of file DirectionlessOdometer.cpp.

~DirectionlessOdometer()

DirectionlessOdometer::~DirectionlessOdometer ( )

overridedefault

Member Function Documentation

getDistance()

long DirectionlessOdometer::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 32 of file DirectionlessOdometer.cpp.

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getSpeed()

float DirectionlessOdometer::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 37 of file DirectionlessOdometer.cpp.

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isAttached()

bool DirectionlessOdometer::isAttached ( ) const

overridevirtual

Returns whether the sensor has been properly attached.

Returns

True if Odometer::attach has been successfully run, false otherwise Example:

bool hasAttachBeenRun = odometer.isAttached();

Implements Odometer.

Definition at line 44 of file DirectionlessOdometer.cpp.

providesDirection()

bool DirectionlessOdometer::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 77 of file DirectionlessOdometer.cpp.

reset()

void DirectionlessOdometer::reset ( )

virtual

Resets the total travelled distance and speed to 0

Reimplemented in DirectionalOdometer.

Definition at line 49 of file DirectionlessOdometer.cpp.

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update()

void STORED_IN_RAM DirectionlessOdometer::update ( )

virtual

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 in DirectionalOdometer.

Definition at line 56 of file DirectionlessOdometer.cpp.

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Member Data Documentation

mDt

volatile unsigned long DirectionlessOdometer::mDt { 0 }

protected

Definition at line 74 of file DirectionlessOdometer.hpp.

mPreviousPulse

volatile unsigned long DirectionlessOdometer::mPreviousPulse { 0 }

protected

Definition at line 73 of file DirectionlessOdometer.hpp.

mPulsesCounter

volatile unsigned long DirectionlessOdometer::mPulsesCounter { 0 }

protected

Definition at line 72 of file DirectionlessOdometer.hpp.

mPulsesPerMeterRatio

const float DirectionlessOdometer::mPulsesPerMeterRatio

protected

Definition at line 71 of file DirectionlessOdometer.hpp.

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

• src/sensors/odometer/interrupt/DirectionlessOdometer.hpp
• src/sensors/odometer/interrupt/DirectionlessOdometer.cpp