Doly C++ SDK v1.00
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DriveControl.h
Go to the documentation of this file.
1#pragma once
2#include <cstdint>
3#include "DriveEventListener.h"
4#include "Helper.h"
5
20
21namespace DriveControl
22{
41 int8_t init(int16_t imu_off_gx = 0, int16_t imu_off_gy = 0, int16_t imu_off_gz = 0,
42 int16_t imu_off_ax = 0, int16_t imu_off_ay = 0, int16_t imu_off_az = 0);
43
53 int8_t dispose(bool dispose_IMU);
54
59 bool isActive();
60
67 void Abort();
68
80 bool freeDrive(uint8_t speed, bool isLeft, bool toForward);
81
99 bool goXY(uint16_t id, int16_t x, int16_t y, uint8_t speed, bool toForward,
100 bool with_brake = false, uint8_t acceleration_interval = 0,
101 bool control_speed = false, bool control_force = true);
102
119 bool goDistance(uint16_t id, uint16_t mm, uint8_t speed, bool toForward,
120 bool with_brake = false, uint8_t acceleration_interval = 0,
121 bool control_speed = false, bool control_force = true);
122
140 bool goRotate(uint16_t id, float rotateAngle, bool from_center, uint8_t speed, bool toForward,
141 bool with_brake = false, uint8_t acceleration_interval = 0,
142 bool control_speed = false, bool control_force = true);
143
148 Position getPosition();
149
153 void resetPosition();
154
159 DriveState getState();
160
166 float getRPM(bool isLeft);
167
175 float getVersion();
176} // namespace DriveControl
DriveEventListener.h
Public API types and listener interface for DriveControl.
Helper.h
Shared helper utilities and common types used across the Doly SDK.
DriveState
DriveState
High-level state of a drive operation.
Definition DriveEventListener.h:61
DriveControl
Definition DriveControl.h:22
DriveControl::freeDrive
bool freeDrive(uint8_t speed, bool isLeft, bool toForward)
Manual motor drive (low-level).
DriveControl::dispose
int8_t dispose(bool dispose_IMU)
Dispose/shutdown drive module and release resources.
DriveControl::goXY
bool goXY(uint16_t id, int16_t x, int16_t y, uint8_t speed, bool toForward, bool with_brake=false, uint8_t acceleration_interval=0, bool control_speed=false, bool control_force=true)
Autonomous drive to an (x, y) target (high-level).
DriveControl::resetPosition
void resetPosition()
Reset current position estimate to (0, 0, 0) (implementation-defined fields).
DriveControl::getPosition
Position getPosition()
Get current estimated position.
DriveControl::getRPM
float getRPM(bool isLeft)
Get current motor RPM.
DriveControl::isActive
bool isActive()
Check whether the module is initialized and active.
DriveControl::getState
DriveState getState()
Get current drive state.
DriveControl::Abort
void Abort()
Abort current drive operation immediately.
DriveControl::getVersion
float getVersion()
Get current library version.
DriveControl::init
int8_t init(int16_t imu_off_gx=0, int16_t imu_off_gy=0, int16_t imu_off_gz=0, int16_t imu_off_ax=0, int16_t imu_off_ay=0, int16_t imu_off_az=0)
Initialize the drive control module.
DriveControl::goRotate
bool goRotate(uint16_t id, float rotateAngle, bool from_center, uint8_t speed, bool toForward, bool with_brake=false, uint8_t acceleration_interval=0, bool control_speed=false, bool control_force=true)
Autonomous rotate (high-level).
DriveControl::goDistance
bool goDistance(uint16_t id, uint16_t mm, uint8_t speed, bool toForward, bool with_brake=false, uint8_t acceleration_interval=0, bool control_speed=false, bool control_force=true)
Autonomous drive for a fixed distance (high-level).
Position
3D pose-like position with heading and integer XY coordinates.
Definition Helper.h:28