SmartCar Class Reference

A class to programmatically represent a vehicle equipped with odometers and a heading sensor. More...

#include <SmartCar.hpp>

Inheritance diagram for SmartCar:

Collaboration diagram for SmartCar:

Public Member Functions
	SmartCar (Runtime &runtime, Control &control, HeadingSensor &headingSensor, Odometer &odometer)
	Constructs a car equipped with a heading sensor and an odometer.
	SmartCar (Runtime &runtime, Control &control, HeadingSensor &headingSensor, Odometer &odometerLeft, Odometer &odometerRight)
	Constructs a car equipped with a heading sensor and two odometers.
void	update () override
	Adjusts the speed when cruise control is enabled and calculates the current heading.
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.
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.
Public Member Functions inherited from DistanceCar
	DistanceCar (Runtime &runtime, Control &control, Odometer &odometer)
	Constructs a car equipped with a distance sensor.
	DistanceCar (Runtime &runtime, Control &control, Odometer &odometerLeft, Odometer &odometerRight)
	Constructs a car equipped with a distance sensor.
long	getDistance ()
	Gets the car's travelled distance.
float	getSpeed ()
	Gets the car's current speed in meters per second.
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.
void	disableCruiseControl ()
	Disable cruise control.
Public Member Functions inherited from SimpleCar
	SimpleCar (Control &control)
	Constructs a simple car.
void	setAngle (int angle) override
	Set the car's driving angle.
Public Member Functions inherited from Car
virtual	~Car ()=default
Public Member Functions inherited from HeadingCar
	HeadingCar (Control &control, HeadingSensor &headingSensor)
	Constructs a car equipped with a heading sensor.
int	getHeading ()
	Returns the car's current heading in degrees [0, 360)

Detailed Description

A class to programmatically represent a vehicle equipped with odometers and a heading sensor.

Definition at line 11 of file SmartCar.hpp.

Constructor & Destructor Documentation

SmartCar() [1/2]

SmartCar::SmartCar	(	Runtime &	runtime,
		Control &	control,
		HeadingSensor &	headingSensor,
		Odometer &	odometer
	)

Constructs a car equipped with a heading sensor and an odometer.

Parameters

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

Example:

ArduinoRuntime arduinoRuntime;
BrushedMotor leftMotor(arduinoRuntime, smartcarlib::pins::v2::leftMotorPins);
BrushedMotor rightMotor(arduinoRuntime, smartcarlib::pins::v2::rightMotorPins);
DifferentialControl control(leftMotor, rightMotor);
 
GY50 gyroscope(arduinoRuntime, 37);
 
const auto pulsesPerMeter = 600;
 
DirectionlessOdometer odometer(
    arduinoRuntime, smartcarlib::pins::v2::leftOdometerPin, []() { leftOdometer.update(); },
    pulsesPerMeter);
 
SmartCar car(arduinoRuntime, control, gyroscope, odometer);

Definition at line 3 of file SmartCar.cpp.

SmartCar() [2/2]

SmartCar::SmartCar	(	Runtime &	runtime,
		Control &	control,
		HeadingSensor &	headingSensor,
		Odometer &	odometerLeft,
		Odometer &	odometerRight
	)

Constructs a car equipped with a heading sensor and two odometers.

Parameters

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

Example:

ArduinoRuntime arduinoRuntime;
BrushedMotor leftMotor(arduinoRuntime, smartcarlib::pins::v2::leftMotorPins);
BrushedMotor rightMotor(arduinoRuntime, smartcarlib::pins::v2::rightMotorPins);
DifferentialControl control(leftMotor, rightMotor);
 
GY50 gyroscope(arduinoRuntime, 37);
 
const auto pulsesPerMeter = 600;
 
DirectionlessOdometer leftOdometer(
    arduinoRuntime, smartcarlib::pins::v2::leftOdometerPin, []() { leftOdometer.update(); },
    pulsesPerMeter);
DirectionlessOdometer rightOdometer(
    arduinoRuntime, smartcarlib::pins::v2::rightOdometerPin, []() { rightOdometer.update();
}, pulsesPerMeter);
 
SmartCar car(arduinoRuntime, control, gyroscope, leftOdometer, rightOdometer);

Definition at line 13 of file SmartCar.cpp.

Member Function Documentation

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);

Reimplemented from DistanceCar.

Definition at line 187 of file DistanceCar.cpp.

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);

Reimplemented from DistanceCar.

Definition at line 113 of file DistanceCar.cpp.

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update()

void SmartCar::update ( )

overridevirtual

Adjusts the speed when cruise control is enabled and calculates the current heading.

You must have this being executed as often as possible for highest accuracy of heading calculations and cruise control.

Example:

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

Reimplemented from DistanceCar.

Definition at line 24 of file SmartCar.cpp.

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

• src/car/smart/SmartCar.hpp
• src/car/smart/SmartCar.cpp