State_Sensor Class Reference

#include <state_sensor.h>

Collaboration diagram for State_Sensor:

Public Member Functions
	State_Sensor (State_Sensor &&)=default
	State_Sensor (const State_Sensor &)=default
State_Sensor &	operator= (State_Sensor &&)=default
State_Sensor &	operator= (const State_Sensor &)=default
	~State_Sensor ()
int	init (uint32_t dt_millis)
	Function that initializes all the required components for the robot's State Sensor(x, y and yaw) More...
Vec3< float >	read_State (Vec3< float > base_state, const State_Vars *sv, uint32_t dt_millis)
	Function that provides the state of the robot. More...
void	add_PSensor (Sensor< float > *sen)
void	remove_PSensor (Sensor< float > *sen)
void	change_Sensors (Field field_id)
uint8_t	get_Bounds ()
void	update_Position (Vec3< float > pos)
void	update_IMUOffsets (Vec3< float > offsets)

Static Public Member Functions
static State_Sensor &	get_Instance ()

Private Member Functions
	State_Sensor ()
Vec3< float >	read_Orientation (Vec3< float > base_state, uint32_t dt_millis)
	Function that provides the orientation of the robot. More...
Vec3< float >	compensate_Bounds (Vec3< float > pos, Vec3< float > ori, const State_Vars *sv)

Private Attributes
PositionSensor *	p_sensor_
Bound_Box *	bound_box_
uint8_t	bounds_
bool	is_first_ori_
Vec3< float >	first_ori_

Constructor & Destructor Documentation

State_Sensor() [1/3]

State_Sensor::State_Sensor ( State_Sensor &&  )

default

State_Sensor() [2/3]

State_Sensor::State_Sensor ( const State_Sensor &  )

default

~State_Sensor()

State_Sensor::~State_Sensor ( )

inline

State_Sensor() [3/3]

State_Sensor::State_Sensor ( )

inlineprivate

Member Function Documentation

add_PSensor()

void State_Sensor::add_PSensor ( Sensor< float > *  sen )

inline

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change_Sensors()

void State_Sensor::change_Sensors

(

Field

field_id

)

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compensate_Bounds()

Vec3< float > State_Sensor::compensate_Bounds ( Vec3< float >  pos, Vec3< float >  ori, const State_Vars *  curr_sv  )

private

Compensates the position values based on the readings from limit switches

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get_Bounds()

uint8_t State_Sensor::get_Bounds

(

)

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get_Instance()

State_Sensor & State_Sensor::get_Instance ( )

static

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init()

int State_Sensor::init

(

uint32_t

dt_millis

)

Function that initializes all the required components for the robot's State Sensor(x, y and yaw)

Return values

0	if inititialized properly

Tasks performed by this function
1) Call the devices initializations in correct order
2) Call the software initializations for utilities like smoothies and filters

Not yet implemented

Error Condition

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operator=() [1/2]

State_Sensor& State_Sensor::operator= ( State_Sensor &&  )

default

operator=() [2/2]

State_Sensor& State_Sensor::operator= ( const State_Sensor &  )

default

read_Orientation()

Vec3< float > State_Sensor::read_Orientation ( Vec3< float >  base_state, uint32_t  dt_millis  )

private

Function that provides the orientation of the robot.

Parameters

base_state	This parameter is considered as one of the possible state of robot.
dt_millis	: The time period at which this function is called periodically

Return values

orientation

of the robot in degrees

Tasks performed by this function
1) Read the values from Accelerometer and the Gyroscope

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read_State()

Vec3< float > State_Sensor::read_State	(	Vec3< float >	base_state,
		const State_Vars *	curr_sv,
		uint32_t	dt_millis
	)

Function that provides the state of the robot.

Parameters

base_state	This parameter is considered as one of the possible state of robot. This will be passed to both Orientation_Sensor and the Position_Sensor for further use.
dt_millis	: The time period at which this function is called periodically

Return values

state

of the robot

Note

The state of our robot is defined by x,y distance from fences and the Robot's heading

Tasks performed by this function
1) Read Orientation of the robot with Orientation_Sensor
2) Read Position of the robot with Position_Sensor

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remove_PSensor()

void State_Sensor::remove_PSensor ( Sensor< float > *  sen )

inline

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update_IMUOffsets()

void State_Sensor::update_IMUOffsets

(

Vec3< float >

offsets

)

update_Position()

void State_Sensor::update_Position ( Vec3< float >  pos )

inline

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Member Data Documentation

bound_box_

Bound_Box* State_Sensor::bound_box_

private

bounds_

uint8_t State_Sensor::bounds_

private

first_ori_

Vec3<float> State_Sensor::first_ori_

private

is_first_ori_

bool State_Sensor::is_first_ori_

private

p_sensor_

PositionSensor* State_Sensor::p_sensor_

private

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