DriveControl Namespace Reference

Functions
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.
int8_t	dispose (bool dispose_IMU)
	Dispose/shutdown drive module and release resources.
bool	isActive ()
	Check whether the module is initialized and active.
void	Abort ()
	Abort current drive operation immediately.
bool	freeDrive (uint8_t speed, bool isLeft, bool toForward)
	Manual motor drive (low-level).
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).
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).
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).
Position	getPosition ()
	Get current estimated position.
void	resetPosition ()
	Reset current position estimate to (0, 0, 0) (implementation-defined fields).
DriveState	getState ()
	Get current drive state.
float	getRPM (bool isLeft)
	Get current motor RPM.
float	getVersion ()
	Get current library version.

Function Documentation

Abort()

void DriveControl::Abort

(

)

Abort current drive operation immediately.

Typically used as an emergency stop for autonomous movement. Completion/error events may still be emitted depending on implementation.

dispose()

int8_t DriveControl::dispose

(

bool

dispose_IMU

)

Dispose/shutdown drive module and release resources.

Parameters

dispose_IMU

If true, shuts down the IMU module as well.

Returns

Status code:

• 0 : success
• 1 : not active / not initialized

Examples

DriveControl/main.cpp.

freeDrive()

bool DriveControl::freeDrive	(	uint8_t	speed,
		bool	isLeft,
		bool	toForward )

Manual motor drive (low-level).

Parameters

speed	Motor speed percent (0..100).
isLeft	true = left motor, false = right motor.
toForward	true = forward, false = backward.

Returns

true if accepted.

Note

Non-blocking; handled in another thread.

getPosition()

Position DriveControl::getPosition

(

)

Get current estimated position.

Returns

Current Position estimate (see Helper.h for definition/units).

Examples

DriveControl/main.cpp.

getRPM()

float DriveControl::getRPM

(

bool

isLeft

)

Get current motor RPM.

Parameters

isLeft

true = left motor, false = right motor.

Returns

RPM value (units: revolutions per minute).

getState()

DriveState DriveControl::getState

(

)

Get current drive state.

Returns

Current DriveState.

Examples

DriveControl/main.cpp.

getVersion()

float DriveControl::getVersion

(

)

Get current library version.

Original note: format 0.XYZ (3 digits after major).

Returns

Version as float.

Examples

DriveControl/main.cpp.

goDistance()

bool DriveControl::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).

Parameters

id	User command id (returned in events/callbacks).
mm	Distance value (named "mm" in API; ensure your implementation uses millimeters).
speed	Requested speed percent (0..100).
toForward	true forward / false backward.
with_brake	Brake at the end.
acceleration_interval	Acceleration step interval (0 = disabled).
control_speed	Enable speed control dynamically.
control_force	Enable force/traction control.

Returns

true if command accepted.

Note

Non-blocking; handled in another thread.

Examples

DriveControl/main.cpp.

goRotate()

bool DriveControl::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).

Parameters

id	User command id (returned in events/callbacks).
rotateAngle	Rotation angle in degrees (sign convention is implementation-defined).
from_center	true = rotate around center, false = rotate around a wheel/edge (implementation-defined).
speed	Requested speed percent (0..100).
toForward	Direction preference (implementation-defined for rotation).
with_brake	Brake at the end.
acceleration_interval	Acceleration step interval (0 = disabled).
control_speed	Enable speed control dynamically.
control_force	Enable force/traction control.

Returns

true if command accepted.

Note

Non-blocking; handled in another thread.

goXY()

bool DriveControl::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).

Parameters

id	User command id (returned in events/callbacks).
x	Target X in your Position coordinate system (units are application-defined).
y	Target Y in your Position coordinate system (same unit as x).
speed	Requested speed percent (0..100).
toForward	Direction preference for the move.
with_brake	If true, brake at the end of motion.
acceleration_interval	Acceleration step interval (0 = disabled).
control_speed	Enable speed control dynamically.
control_force	Enable force/traction control (default true).

Returns

true if command accepted.

Note

Non-blocking; handled in another thread.

init()

int8_t DriveControl::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.

IMU offsets are calibration values stored by the platform.

Parameters

imu_off_gx	IMU gyro X offset (calibration).
imu_off_gy	IMU gyro Y offset (calibration).
imu_off_gz	IMU gyro Z offset (calibration).
imu_off_ax	IMU accel X offset (calibration).
imu_off_ay	IMU accel Y offset (calibration).
imu_off_az	IMU accel Z offset (calibration).

Returns

Status code:

• 0 : success
• 1 : already active / already initialized
• -1 : motor setup failed
• -2 : IMU init failed

Examples

DriveControl/main.cpp.

isActive()

bool DriveControl::isActive

(

)

Check whether the module is initialized and active.

Returns

true if active, false otherwise.

resetPosition()

void DriveControl::resetPosition

(

)

Reset current position estimate to (0, 0, 0) (implementation-defined fields).