DistanceCar Class Reference

#include <DistanceCar.hpp>

Inheritance diagram for DistanceCar:

Collaboration diagram for DistanceCar:

Public Member Functions
	DistanceCar (Runtime &runtime, Control &control, Odometer &odometer)
	Constructs a car equipped with a distance sensor. More...
	DistanceCar (Runtime &runtime, Control &control, Odometer &odometerLeft, Odometer &odometerRight)
	Constructs a car equipped with a distance sensor. More...
long	getDistance ()
	Gets the car's travelled distance. More...
void	setSpeed (float speed) override
	Sets the car's speed in meters per second if cruise control is enabled otherwise as a percentage of the motor speed. More...
float	getSpeed ()
	Gets the car's current speed in meters per second. More...
void	enableCruiseControl (float proportional=smartcarlib::constants::car::kDefaultProportional, float integral=smartcarlib::constants::car::kDefaultIntegral, float derivative=smartcarlib::constants::car::kDefaultDerivative, unsigned long frequency=smartcarlib::constants::car::kDefaultPidFrequency)
	Enables the car to move with a stable speed using the odometers. More...
virtual void	update ()
	Adjusts the cruise control speed. More...
void	disableCruiseControl ()
	Disable cruise control. More...
void	overrideMotorSpeed (int firstMotorSpeed, int secondMotorSpeed) override
	Sets the motor speed individually as a percentage of the motors` total power unless cruise control is enabled in which case has no effect. More...
Public Member Functions inherited from SimpleCar
	SimpleCar (Control &control)
	Constructs a simple car. More...
void	setSpeed (float speed) override
	Sets the car's driving speed as a percentage of the motors total speed where the sign indicates direction. More...
void	setAngle (int angle) override
	Set the car's driving angle. 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 Car
virtual	~Car ()=default

Detailed Description

A class to programmatically represent a vehicle equipped with odometers

Definition at line 27 of file DistanceCar.hpp.

Constructor & Destructor Documentation

DistanceCar() [1/2]

DistanceCar::DistanceCar	(	Runtime &	runtime,
		Control &	control,
		Odometer &	odometer
	)

Constructs a car equipped with a distance sensor.

Parameters

runtime	The runtime environment you want to run the class for
control	The car's control
odometer	The odometer

Example:

ArduinoRuntime arduinoRuntime;
BrushedMotor leftMotor(arduinoRuntime, smartcarlib::pins::v2::leftMotorPins);
BrushedMotor rightMotor(arduinoRuntime, smartcarlib::pins::v2::rightMotorPins);
DifferentialControl control(leftMotor, rightMotor);
 
DirectionlessOdometer odometer(
  arduinoRuntime, smartcarlib::pins::v2::leftOdometerPin, []() { odometer.update(); }, 100);
 
DistanceCar car(arduinoRuntime, control, odometer);

Definition at line 17 of file DistanceCar.cpp.

DistanceCar() [2/2]

DistanceCar::DistanceCar	(	Runtime &	runtime,
		Control &	control,
		Odometer &	odometerLeft,
		Odometer &	odometerRight
	)

Constructs a car equipped with a distance sensor.

Parameters

runtime	The runtime environment you want to run the class for
control	The car's control
odometerLeft	The left odometer
odometerRight	The right odometer

Example:

BrushedMotor leftMotor(smartcarlib::pins::v2::leftMotorPins);
BrushedMotor rightMotor(smartcarlib::pins::v2::rightMotorPins);
DifferentialControl control(leftMotor, rightMotor);
 
const auto pulsesPerMeter = 600;
 
DirectionlessOdometer leftOdometer(
    smartcarlib::pins::v2::leftOdometerPin, []() { leftOdometer.update(); }, pulsesPerMeter);
DirectionlessOdometer rightOdometer(
    smartcarlib::pins::v2::rightOdometerPin, []() { rightOdometer.update(); },
    pulsesPerMeter);
 
DistanceCar car(control, gyroscope, leftOdometer, rightOdometer);

Definition at line 25 of file DistanceCar.cpp.

Member Function Documentation

disableCruiseControl()

void DistanceCar::disableCruiseControl

(

)

Disable cruise control.

Example:

car.disableCruiseControl();

Definition at line 183 of file DistanceCar.cpp.

enableCruiseControl()

void DistanceCar::enableCruiseControl	(	float	proportional = smartcarlib::constants::car::kDefaultProportional,
		float	integral = smartcarlib::constants::car::kDefaultIntegral,
		float	derivative = smartcarlib::constants::car::kDefaultDerivative,
		unsigned long	frequency = smartcarlib::constants::car::kDefaultPidFrequency
	)

Enables the car to move with a stable speed using the odometers.

Parameters

proportional	The proportional value of the PID controller
integral	The integral value of the PID controller
derivative	The derivative value of the PID controller
frequency	How often to adjust the speed using update()

Example:

// Start adjusting the speed using a PID controller with
// P = 2, I = 0.1, D = 0.5 every 80 milliseconds
car.enableCruiseControl(2, 0.1, 0.5, 80);

Definition at line 188 of file DistanceCar.cpp.

getDistance()

long DistanceCar::getDistance

(

)

Gets the car's travelled distance.

Returns

The car's travelled distance

Example:

// After we have attached the odometers, we can get the travelled distance
long travelledDistance = car.getDistance();

Definition at line 36 of file DistanceCar.cpp.

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getSpeed()

float DistanceCar::getSpeed

(

)

Gets the car's current speed in meters per second.

Returns

The car's speed

Example:

float currentSpeed = car.getSpeed();

Definition at line 177 of file DistanceCar.cpp.

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overrideMotorSpeed()

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

overridevirtual

Sets the motor speed individually as a percentage of the motors` total power unless cruise control is enabled in which case has no effect.

Use with caution.

Parameters

firstMotorSpeed	The speed of the motor passed as first argument argument to the car's control class [-100, 100]
secondMotorSpeed	The speed of the motor passed as second argument argument to the car's control class [-100, 100]

Example:

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

Implements Car.

Definition at line 210 of file DistanceCar.cpp.

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setSpeed()

void DistanceCar::setSpeed ( float  speed )

overridevirtual

Sets the car's speed in meters per second if cruise control is enabled otherwise as a percentage of the motor speed.

Sign in both cases determines direction.

Parameters

speed

The car's speed

Example (with cruise control):

car.enableCruiseControl();
float speedInMetersPerSecond = -0.8;
// Set speed to 0.8 meters per second backward
car.setSpeed(speedInMetersPerSecond);

Example (without cruise control):

float speedInPercentageOfMotorPower = 50;
// Set speed to half of the maximum motor speed forward
car.setSpeed(speedInPercentageOfMotorPower);

Implements Car.

Definition at line 42 of file DistanceCar.cpp.

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update()

void DistanceCar::update ( )

virtual

Adjusts the cruise control speed.

You must have this being executed as often as possible when having cruise control enabled. When cruise control is not enabled this has no effect.

Example:

void loop() {
  // Update the car readings as often as possible
  car.update();
  // Other functionality
}

Reimplemented in SmartCar.

Definition at line 112 of file DistanceCar.cpp.

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

• src/car/distance/DistanceCar.hpp
• src/car/distance/DistanceCar.cpp