Robot Class Reference

A Singleton class that handles all the robot's sequence. More...

#include <robot.h>

Collaboration diagram for Robot:

Public Member Functions
	Robot (Robot &&)=default
	Robot (const Robot &)=default
Robot &	operator= (Robot &&)=default
Robot &	operator= (const Robot &)=default
	~Robot ()
void	read_Field ()
int	init (uint32_t dt_millis)
void	update (uint32_t dt_millis)
void	run (uint32_t dt_millis)
bool	is_Initiated () const
void	profile_Actuators (Vec3< float > vel, uint32_t dt_millis)
void	check_Actuators ()

Static Public Member Functions
static Robot &	get_Instance ()

Private Member Functions
	Robot ()

Private Attributes
State_Sensor *	sensor_
Processor *	cpu_
Actuator *	base_
State_Vars *	robot_state_vars_
Vec3< float >	state_
Vec3< float >	state_from_base_
Vec3< float >	velocities_
Vec3< float >	psis_
bool	initiated_

Detailed Description

A Singleton class that handles all the robot's sequence.

Robot class is responsible for handling all the sequence to be taken by the Khangai Robot in the game field.

Tasks that can be delegated to the Robot class :
1) Read the robot's state, i.e, the position and orientation of the robot
   using the available OrientationSensor and PositionSensor.
2) Determine the next action to be taken by the robot.
3) Give motor commands and tune the motors.
4) Stop the robot using the appropriate ramping.

Constructor & Destructor Documentation

Robot() [1/3]

Robot::Robot ( Robot &&  )

default

Robot() [2/3]

Robot::Robot ( const Robot &  )

default

~Robot()

Robot::~Robot ( )

inline

Robot() [3/3]

Robot::Robot ( )

inlineprivate

Member Function Documentation

check_Actuators()

void Robot::check_Actuators

(

)

Here is the call graph for this function:

get_Instance()

Robot & Robot::get_Instance ( )

static

Here is the call graph for this function:

init()

int Robot::init

(

uint32_t

dt_millis

)

Here is the call graph for this function:

Here is the caller graph for this function:

is_Initiated()

bool Robot::is_Initiated

(

)

const

Here is the caller graph for this function:

operator=() [1/2]

Robot& Robot::operator= ( Robot &&  )

default

operator=() [2/2]

Robot& Robot::operator= ( const Robot &  )

default

profile_Actuators()

void Robot::profile_Actuators	(	Vec3< float >	vel,
		uint32_t	dt_millis
	)

Here is the call graph for this function:

read_Field()

void Robot::read_Field

(

)

Here is the call graph for this function:

Here is the caller graph for this function:

run()

void Robot::run

(

uint32_t

dt_millis

)

Here is the call graph for this function:

Here is the caller graph for this function:

update()

void Robot::update

(

uint32_t

dt_millis

)

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

base_

Actuator* Robot::base_

private

cpu_

Processor* Robot::cpu_

private

initiated_

bool Robot::initiated_

private

psis_

Vec3<float> Robot::psis_

private

robot_state_vars_

State_Vars* Robot::robot_state_vars_

private

sensor_

State_Sensor* Robot::sensor_

private

state_

Vec3<float> Robot::state_

private

state_from_base_

Vec3<float> Robot::state_from_base_

private

velocities_

Vec3<float> Robot::velocities_

private

---

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

• C:/Users/073be/OneDrive/Documents/Robotics/Codes/beta/Khangai-Robot/Khangai-Robot-Full/KhangaiRobot-Play/Core/Inc/robot/robot.h
• C:/Users/073be/OneDrive/Documents/Robotics/Codes/beta/Khangai-Robot/Khangai-Robot-Full/KhangaiRobot-Play/Core/Src/robot/robot.cpp