HeadingCar Class Reference

#include <HeadingCar.hpp>

Inheritance diagram for HeadingCar:

Collaboration diagram for HeadingCar:

Public Member Functions
	HeadingCar (Control &control, HeadingSensor &headingSensor)
	Constructs a car equipped with a heading sensor. More...
int	getHeading ()
	Returns the car's current heading in degrees [0, 360) More...
virtual void	update ()
	Updates the readings from the heading sensor. 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 a heading sensor

Definition at line 10 of file HeadingCar.hpp.

Constructor & Destructor Documentation

HeadingCar()

HeadingCar::HeadingCar	(	Control &	control,
		HeadingSensor &	headingSensor
	)

Constructs a car equipped with a heading sensor.

Parameters

control	The car's control
headingSensor	The heading sensor

Example:

BrushedMotor leftMotor(smartcarlib::pins::v2::leftMotorPins);
BrushedMotor rightMotor(smartcarlib::pins::v2::rightMotorPins);
DifferentialControl control(leftMotor, rightMotor);
 
ArduinoRuntime arduinoRuntime;
const int GYROSCOPE_OFFSET = 37;
GY50 gyroscope(arduinoRuntime, GYROSCOPE_OFFSET);

Definition at line 3 of file HeadingCar.cpp.

Member Function Documentation

getHeading()

int HeadingCar::getHeading

(

)

Returns the car's current heading in degrees [0, 360)

Returns

The car's current heading in degrees

Example:

auto currentHeading = gyroscope.getHeading();

Definition at line 9 of file HeadingCar.cpp.

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update()

void HeadingCar::update ( )

virtual

Updates the readings from the heading sensor.

You must have this being executed as often as possible to get accurate heading readings.

Example:

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

Reimplemented in SmartCar.

Definition at line 14 of file HeadingCar.cpp.

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

• src/car/heading/HeadingCar.hpp
• src/car/heading/HeadingCar.cpp