Wheel Class Reference

#include <wheel.h>

Collaboration diagram for Wheel:

Public Member Functions
	Wheel ()
	Wheel (Wheel_Config *wheel)
	Wheel (Wheel &&)=default
	Wheel (const Wheel &)=default
Wheel &	operator= (Wheel &&)=default
Wheel &	operator= (const Wheel &)=default
	~Wheel ()
void	set_Config (Wheel_Config *wheel)
void	set_Direction (enum Direction d)
void	set_Omega (float omega)
	Function that sets the angular velocity of the wheel. More...
void	update () const
float	get_Omega (uint32_t dt_millis)
float	get_MaxOmega () const
void	start_Periphs ()
	Function that starts timer base, pwm and encoder of the wheel. More...
void	set_PIDController (PID *pid)
PID *	get_PIDController ()
void	log (float omega, float new_omega)
void	clear ()

Private Attributes
Wheel_Config *	wheel_
enum Direction	dir_
float	omega_

Constructor & Destructor Documentation

Wheel() [1/4]

Wheel::Wheel ( )

inline

Wheel() [2/4]

Wheel::Wheel ( Wheel_Config *  wheel )

inline

Wheel() [3/4]

Wheel::Wheel ( Wheel &&  )

default

Wheel() [4/4]

Wheel::Wheel ( const Wheel &  )

default

~Wheel()

Wheel::~Wheel ( )

inline

Member Function Documentation

clear()

void Wheel::clear ( )

inline

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get_MaxOmega()

float Wheel::get_MaxOmega ( ) const

inline

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get_Omega()

float Wheel::get_Omega

(

uint32_t

dt_millis

)

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get_PIDController()

PID* Wheel::get_PIDController ( )

inline

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log()

void Wheel::log ( float  omega, float  new_omega  )

inline

operator=() [1/2]

Wheel& Wheel::operator= ( Wheel &&  )

default

operator=() [2/2]

Wheel& Wheel::operator= ( const Wheel &  )

default

set_Config()

void Wheel::set_Config ( Wheel_Config *  wheel )

inline

set_Direction()

void Wheel::set_Direction ( enum Direction  d )

inline

set_Omega()

void Wheel::set_Omega

(

float

omega

)

Function that sets the angular velocity of the wheel.

Parameters

omega

The new angular of the wheel

Return values

None

Note

This function does not actually update the value of the wheel. The update() function need to be called separately for new value to be updated.

Tasks performed by this function :
1) Sets the direction of the wheel according to the sign of omega
2) Sets the omega of the wheel

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set_PIDController()

void Wheel::set_PIDController ( PID *  pid )

inline

start_Periphs()

void Wheel::start_Periphs

(

)

Function that starts timer base, pwm and encoder of the wheel.

Return values

None

Tasks performed by this function :
1) Starts Timer associated with the wheel
2) Starts PWM of the wheel
3) Starts Encoder of the wheel

update()

void Wheel::update

(

)

const

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Member Data Documentation

dir_

enum Direction Wheel::dir_

private

omega_

float Wheel::omega_

private

wheel_

Wheel_Config* Wheel::wheel_

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