Controller Class Reference

Short Description. More...

#include <controller.h>

List of all members.

Public Member Functions
	Controller (msg *daemon, std::ofstream &dataFile, const char *servo_serial_device)
int	run (void)
	Short Description.
	Controller (msg *daemon, const char *servo_serial_device)
	Short Description.
int	run (void)
	Controller (msg *daemon, const char *servo_serial_device)
int	run (void)
	Controller (msg *daemon, const char *servo_serial_device)
int	run (void)
Private Member Functions
int	joyX (void)
	Short Description.
int	joyY (void)
	Short Description.
int	heartbeat (void)
int	stop (void)
	Short Description.
int	info (void)
	Short Description.
int	kill (void)
	Short Description.
int	gps (void)
	Short Description.
int	setPower (void)
	Short Description.
int	setPowerValue (void)
	Short Description.
int	setAngle (void)
	Short Description.
int	setAngleValue (void)
	Short Description.
int	processMsgs (void)
	Short Description.
void	sendAck (void)
	Short Description.
void	sendNack (void)
	Short Description.
float	calcAdjustedValue (float value, float &valueErr)
	Allows setting "fractional" values by returns values that fluctuates proportially between two consecutive integers.
int	joyX (void)
int	joyY (void)
int	heartbeat (void)
int	stop (void)
int	info (void)
int	kill (void)
int	gps (void)
int	gain (float &K)
	Short Description.
int	speed (void)
	Short Description.
int	processMsgs (void)
void	sendAck (void)
void	sendNack (void)
float	encSum (hwInterface &truck_hw)
	Short Description.
int	forward (void)
	Increase power output of engine Servo.
int	back (void)
	Decrease power output of engine Servo.
int	left (void)
	Turn wheel to the left.
int	right (void)
	Turn wheel to the right.
int	stop (void)
int	kill (void)
int	gps (void)
int	processMsgs (void)
void	sendAck (void)
void	sendNack (void)
int	processMsgs (void)
void	sendAck (void)
void	sendNack (void)
Private Attributes
hwInterface	hw
msg *	daemon
EncEstimator	est
std::ofstream &	f
int	verbose
bool	useAngleValue
float	angle
float	angleValue
float	angleValueErr
bool	usePowerValue
float	power
float	powerValue
float	powerValueErr
int	msecLeft
hwInterface	truck_hw
msg *	daemon
float	targetVeloc
float	veloc
float	Kp
float	Ki
float	Kd
float	errSum
int	cyclesLeft
msg *	daemon
int	quit
msg *	daemon
int	ack_count
FILE *	dataFile

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Detailed Description

Short Description.

Long Description if necessary.

Parameters:

<parameter_name>

<parameter_descreption>

Returns:

<information on="" what="" is="" being="" returned>="">

Author:

<author name>="">

Definition at line 15 of file controller.h.

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Constructor & Destructor Documentation

Controller::Controller (  msg *  daemon, std::ofstream &  dataFile, const char *  servo_serial_device )

Controller::Controller (  msg *  daemon, const char *  serial_servo_device )

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 14 of file controller.cpp. References angle, cyclesLeft, errSum, Kd, Ki, Kp, hwInterface::reset(), targetVeloc, truck_hw, veloc, and hwInterface::wait().

Controller::Controller (  msg *  daemon, const char *  servo_serial_device )

Controller::Controller (  msg *  daemon, const char *  servo_serial_device )

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Member Function Documentation

int Controller::back (  void   )  [private]

Decrease power output of engine Servo. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 111 of file controller.cpp. References msecLeft, power, POWER_DELTA, and sendAck().

float Controller::calcAdjustedValue (  float  value, float &  valueErr )  [private]

Allows setting "fractional" values by returns values that fluctuates proportially between two consecutive integers. For example if this function is called continously with input an input value of 100.5, half the time the return value will be 100 and the other half of the time the return value will be 101. Over multiple calls the output value should average out to be 101.5 Parameters: <value>  <floating point="" value>=""> Returns: <integer value>=""> Author: <Derek> Definition at line 433 of file controller.cpp. Referenced by run().

float Controller::encSum (  hwInterface &  truck_hw  )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 355 of file controller.cpp. References hwInterface::BACK_LEFT, hwInterface::BACK_RIGHT, hwInterface::encTicks(), hwInterface::FRONT_LEFT, and hwInterface::FRONT_RIGHT.

int Controller::forward (  void   )  [private]

Increase power output of engine Servo. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 92 of file controller.cpp. References msecLeft, power, POWER_DELTA, and sendAck().

int Controller::gain (  float &  K  )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 163 of file controller.cpp. References daemon, endmsg, errSum, startmsg(), and msg::type().

int Controller::gps (  void   )  [private]

int Controller::gps (  void   )  [private]

int Controller::gps (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 410 of file controller.cpp. Referenced by processMsgs().

int Controller::heartbeat (  void   )  [private]

int Controller::heartbeat (  void   )  [private]

int Controller::info (  void   )  [private]

int Controller::info (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 169 of file controller.cpp. References angle, endmsg, est, EstimatorBase::getAngle(), EstimatorBase::getXPos(), EstimatorBase::getYPos(), msg::moreArgs(), power, and startmsg(). Referenced by processMsgs().

int Controller::joyX (  void   )  [private]

int Controller::joyX (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 109 of file controller.cpp. References angle, endmsg, msg::moreArgs(), startmsg(), and msg::type(). Referenced by processMsgs().

int Controller::joyY (  void   )  [private]

int Controller::joyY (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 139 of file controller.cpp. References endmsg, msg::moreArgs(), power, startmsg(), and msg::type(). Referenced by processMsgs().

int Controller::kill (  void   )  [private]

int Controller::kill (  void   )  [private]

int Controller::kill (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 229 of file controller.cpp. References angle, hw, power, quit, sendAck(), hwInterface::setAngle(), hwInterface::setSCPower(), hwInterface::wait(), and hwInterface::writeControl(). Referenced by processMsgs().

int Controller::left (  void   )  [private]

Turn wheel to the left. Move Servo to turn wheels left by incrementing the servo position by 5 units Motion to the left using setAngle is from 0 to +30 Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 132 of file controller.cpp. References angle, ANGLE_DELTA, and sendAck().

int Controller::processMsgs (  void   )  [private]

int Controller::processMsgs (  void   )  [private]

int Controller::processMsgs (  void   )  [private]

int Controller::processMsgs (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 49 of file controller.cpp. References msg::dispatch(), msg::error(), gps(), info(), joyX(), joyY(), kill(), msecLeft, msg::recvNoWait(), sendNack(), setAngle(), setAngleValue(), setPower(), setPowerValue(), stop(), msg::type(), and verbose. Referenced by run().

int Controller::right (  void   )  [private]

Turn wheel to the right. Move Servo to turn wheels right by decrementing the servo position by 5 units Motion to the right using setAngle is from 0 to -30 Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 152 of file controller.cpp. References angle, ANGLE_DELTA, and sendAck().

int Controller::run (  void   )

int Controller::run (  void   )

int Controller::run (  void   )

int Controller::run (  void   )

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 452 of file controller.cpp. References angle, angleValue, angleValueErr, calcAdjustedValue(), hwInterface::encTicksBL(), hwInterface::encTicksBR(), hwInterface::encTicksFL(), hwInterface::encTicksFR(), est, f, hwInterface::getSteeringA2DValue(), hw, i, msecLeft, power, powerValue, powerValueErr, processMsgs(), quit, hwInterface::readStatus(), hwInterface::setAdjustedSCPower(), hwInterface::setAngle(), hwInterface::setSCPower(), hwInterface::setSCValue(), hwInterface::setSteeringValue(), EncEstimator::update(), useAngleValue, usePowerValue, hwInterface::wait(), and hwInterface::writeControl(). Referenced by main().

void Controller::sendAck (  void   )  [private]

void Controller::sendAck (  void   )  [private]

void Controller::sendAck (  void   )  [private]

void Controller::sendAck (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 380 of file controller.cpp. References endmsg, startmsg(), and msg::type(). Referenced by back(), forward(), kill(), left(), right(), and stop().

void Controller::sendNack (  void   )  [private]

void Controller::sendNack (  void   )  [private]

void Controller::sendNack (  void   )  [private]

void Controller::sendNack (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 395 of file controller.cpp. References endmsg, startmsg(), and msg::type(). Referenced by processMsgs().

int Controller::setAngle (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 318 of file controller.cpp. References angle, endmsg, msg::moreArgs(), msecLeft, startmsg(), msg::type(), and useAngleValue. Referenced by processMsgs().

int Controller::setAngleValue (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 349 of file controller.cpp. References angleValue, endmsg, msg::moreArgs(), msecLeft, startmsg(), msg::type(), and useAngleValue. Referenced by processMsgs().

int Controller::setPower (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 254 of file controller.cpp. References endmsg, msg::moreArgs(), msecLeft, power, startmsg(), msg::type(), and usePowerValue. Referenced by processMsgs().

int Controller::setPowerValue (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 285 of file controller.cpp. References endmsg, msg::moreArgs(), msecLeft, powerValue, startmsg(), msg::type(), and usePowerValue. Referenced by processMsgs().

int Controller::speed (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 280 of file controller.cpp. References cyclesLeft, daemon, endmsg, startmsg(), targetVeloc, and msg::type().

int Controller::stop (  void   )  [private]

int Controller::stop (  void   )  [private]

int Controller::stop (  void   )  [private]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 211 of file controller.cpp. References power, and sendAck(). Referenced by processMsgs().

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Member Data Documentation

int Controller::ack_count [private]

Definition at line 24 of file fcontroller.h.

float Controller::angle [private]

Definition at line 30 of file controller.h. Referenced by Controller(), info(), joyX(), kill(), left(), right(), run(), and setAngle().

float Controller::angleValue [private]

Definition at line 31 of file controller.h. Referenced by run(), and setAngleValue().

float Controller::angleValueErr [private]

Definition at line 32 of file controller.h. Referenced by run().

int Controller::cyclesLeft [private]

Definition at line 35 of file controller.h. Referenced by Controller(), and speed().

msg* Controller::daemon [private]

Definition at line 19 of file fcontroller.h.

msg* Controller::daemon [private]

Definition at line 22 of file controller.h.

msg* Controller::daemon [private]

Definition at line 25 of file controller.h.

msg* Controller::daemon [private]

Definition at line 18 of file controller.h. Referenced by gain(), and speed().

FILE* Controller::dataFile [private]

Definition at line 25 of file fcontroller.h.

float Controller::errSum [private]

Definition at line 31 of file controller.h. Referenced by Controller(), and gain().

EncEstimator Controller::est [private]

Definition at line 20 of file controller.h. Referenced by info(), and run().

std::ofstream& Controller::f [private]

Definition at line 22 of file controller.h. Referenced by run().

hwInterface Controller::hw [private]

Definition at line 17 of file controller.h. Referenced by kill(), and run().

float Controller::Kd [private]

Definition at line 30 of file controller.h. Referenced by Controller().

float Controller::Ki [private]

Definition at line 30 of file controller.h. Referenced by Controller().

float Controller::Kp [private]

Definition at line 30 of file controller.h. Referenced by Controller().

int Controller::msecLeft [private]

Definition at line 43 of file controller.h. Referenced by back(), forward(), processMsgs(), run(), setAngle(), setAngleValue(), setPower(), and setPowerValue().

float Controller::power [private]

Definition at line 37 of file controller.h. Referenced by back(), forward(), info(), joyY(), kill(), run(), setPower(), and stop().

float Controller::powerValue [private]

Definition at line 38 of file controller.h. Referenced by run(), and setPowerValue().

float Controller::powerValueErr [private]

Definition at line 39 of file controller.h. Referenced by run().

int Controller::quit [private]

Definition at line 26 of file controller.h. Referenced by kill(), and run().

float Controller::targetVeloc [private]

Definition at line 29 of file controller.h. Referenced by Controller(), and speed().

hwInterface Controller::truck_hw [private]

Definition at line 24 of file controller.h. Referenced by Controller().

bool Controller::useAngleValue [private]

Definition at line 29 of file controller.h. Referenced by run(), setAngle(), and setAngleValue().

bool Controller::usePowerValue [private]

Definition at line 36 of file controller.h. Referenced by run(), setPower(), and setPowerValue().

float Controller::veloc [private]

Definition at line 29 of file controller.h. Referenced by Controller().

int Controller::verbose [private]

Definition at line 24 of file controller.h. Referenced by processMsgs().

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

• power_controller/controller.h
• speed_controller/controller.h
• truckd/controller.h
• truckd/test/fcontroller.h
• power_controller/controller.cpp
• speed_controller/controller.cpp
• truckd/controller.cpp
• truckd/test/fcontroller.cpp

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