hwInterface Class Reference

Short Description. More...

#include <hw_interface.h>

List of all members.

Public Types
enum	{ FRONT_RIGHT = 0, FRONT_LEFT = 1, BACK_RIGHT = 2, BACK_LEFT = 3 }
Public Member Functions
	hwInterface (int write, const char *servo_dev="/dev/ttyS1")
	Short Description.
	~hwInterface (void)
	Short Description.
void	readStatus (void)
	Short Description.
void	writeControl (void)
	Short Description.
void	wait (void)
	Short Description.
void	reset (void)
	Sends signal to MCU code telling it to reset.
int	encTicks (int encNum)
	returns the cumulative number of ticks a wheel has moved
int	encTicksFR (void)
	Short Description.
int	encTicksFL (void)
	Short Description.
int	encTicksBR (void)
	Short Description.
int	encTicksBL (void)
	Short Description.
int	irValueFR (void)
	Returns raw a2d value from front right IR sensor.
int	irValueFL (void)
	Returns raw a2d value from front right IR sensor.
int	getSteeringA2DValue (void)
	Returns raw a2d value from TI A2D sensor (currently mapped to a2d[7]).
int	a2d (int adNum)
	returns the A2D value for a certain input
float	getAngle (void)
	return the current steering angle
void	setAngle (float angle)
	Short Description.
void	setSteeringValue (int value)
	Allows setting steering servo value directly.
void	setSCPower (float power)
	Short Description.
void	setAdjustedSCPower (float power)
	Sets speed controller power output.
void	setSCValue (int value)
	Short Description.
void	setShiftValue (int value)
void	safeStop (void)
	Short Description.
Static Public Attributes
static const int	ticksPerRevolution = 540*4
static const double	ticksPerMeter = 3951.0979
static const double	metersPerTick = 1.0 / 3951.0979
static const double	axleLength = 0.37465
Protected Attributes
status_t	status
int	driver_fd
int	servo_fd
int	writeEn
SSC	speedController
Servo	steeringServo
SSC	shiftingServo
float	valueErr

---

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 48 of file hw_interface.h.

---

Member Enumeration Documentation

anonymous enum

Enumerator: FRONT_RIGHT  FRONT_LEFT  BACK_RIGHT  BACK_LEFT  Definition at line 78 of file hw_interface.h.

---

Constructor & Destructor Documentation

hwInterface::hwInterface (  int  write, const char *  servo_dev = "/dev/ttyS1" )

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 31 of file hw_interface.cpp. References driver_fd, servo_fd, and writeEn.

hwInterface::~hwInterface (  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 95 of file hw_interface.cpp. References driver_fd, safeStop(), servo_fd, and writeEn.

---

Member Function Documentation

int hwInterface::a2d (  int  adNum  )  [inline]

returns the A2D value for a certain input Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 235 of file hw_interface.h. References status_t::a2d, and status.

int hwInterface::encTicks (  int  encNum  )  [inline]

returns the cumulative number of ticks a wheel has moved Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 115 of file hw_interface.h. References status_t::encoder, and status. Referenced by encSum(), Controller::encSum(), and main().

int hwInterface::encTicksBL (  void   )  [inline]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 176 of file hw_interface.h. References BACK_LEFT, status_t::encoder, and status. Referenced by main(), and Controller::run().

int hwInterface::encTicksBR (  void   )  [inline]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 161 of file hw_interface.h. References BACK_RIGHT, status_t::encoder, and status. Referenced by main(), and Controller::run().

int hwInterface::encTicksFL (  void   )  [inline]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 146 of file hw_interface.h. References status_t::encoder, FRONT_LEFT, and status. Referenced by main(), and Controller::run().

int hwInterface::encTicksFR (  void   )  [inline]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 131 of file hw_interface.h. References status_t::encoder, FRONT_RIGHT, and status. Referenced by main(), and Controller::run().

float hwInterface::getAngle (  void   )  [inline]

return the current steering angle Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 251 of file hw_interface.h. References Servo::getAngle(), and steeringServo.

int hwInterface::getSteeringA2DValue (  void   )  [inline]

Returns raw a2d value from TI A2D sensor (currently mapped to a2d[7]). The A2D is currently running in 128HZ with 12 bits of resolution. The Analog sensor can measure negative voltages, but the POT of the servo shouldn't produce any negative voltages Returns: <raw a2d value -2048 to 2047 from TI I2C A2D> Author: <Derek> Definition at line 219 of file hw_interface.h. References status_t::a2d, and status. Referenced by main(), and Controller::run().

int hwInterface::irValueFL (  void   )  [inline]

Returns raw a2d value from front right IR sensor. Returns: <raw a2d value 0 to ~32000> Author: <Derek> Definition at line 202 of file hw_interface.h. References status_t::a2d, and status. Referenced by main().

int hwInterface::irValueFR (  void   )  [inline]

Returns raw a2d value from front right IR sensor. Returns: <raw a2d value 0 to ~32000> Author: <Derek> Definition at line 189 of file hw_interface.h. References status_t::a2d, and status. Referenced by main().

void hwInterface::readStatus (  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 174 of file hw_interface.cpp. References driver_fd, MCU_READ_STATUS, and status. Referenced by main(), and Controller::run().

void hwInterface::reset (  void   )

Sends signal to MCU code telling it to reset. Reset encoder values on truck, doesn't reset steering angle or speed controller settings. This function waits about 30ms for reset operation to complete Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <Derek> Definition at line 218 of file hw_interface.cpp. References driver_fd, and MCU_RESET. Referenced by Controller::Controller(), Daemon::Daemon(), main(), and stopAll().

void hwInterface::safeStop (  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 117 of file hw_interface.cpp. References setSCPower(). Referenced by ~hwInterface().

void hwInterface::setAdjustedSCPower (  float  power  )

Sets speed controller power output. The Traxxis speed controller won't do anything will low output values, (it has a high "minimum drive" setting). This means that it makes it difficuly to move the motors at low speed. This fucnction attempts to adjust for this discrpency by alternating the speed controller between on and off values. This works better but is not perfect because the motors make jerky movements. For this fucnction to operate correctly it must be called repeatedly, every 20 - 100ms, even if the target speed controller power is not changing Parameters: <power>  <power output level of SC, -1 to 1> Returns: <void> Author: <Derek> Definition at line 268 of file hw_interface.cpp. References f, SSC::setValue(), speedController, and valueErr. Referenced by main(), and Controller::run().

void hwInterface::setAngle (  float  angle  )  [inline]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 267 of file hw_interface.h. References Servo::setAngle(), and steeringServo. Referenced by Controller::kill(), main(), Controller::run(), and updateAngle().

void hwInterface::setSCPower (  float  power  )

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 241 of file hw_interface.cpp. References SSC::setValue(), and speedController. Referenced by Controller::kill(), main(), Controller::run(), safeStop(), stop(), stopAll(), updatePower(), and Daemon::~Daemon().

void hwInterface::setSCValue (  int  value  )  [inline]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 301 of file hw_interface.h. References SSC::setValue(), and speedController. Referenced by main(), and Controller::run().

void hwInterface::setShiftValue (  int  value  )  [inline]

Definition at line 306 of file hw_interface.h. References SSC::setValue(), and shiftingServo. Referenced by main().

void hwInterface::setSteeringValue (  int  value  )  [inline]

Allows setting steering servo value directly. With current SSC servo values can range from 0 to 254 but the steering has mechanical limits of appoximately between 30 to 215 Parameters: <value>  <ssc servo value between 0 and 254> Returns: <void> Author: <Derek> Definition at line 285 of file hw_interface.h. References SSC::setValue(), and steeringServo. Referenced by main(), and Controller::run().

void hwInterface::wait (  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 195 of file hw_interface.cpp. References driver_fd, and MCU_WAIT_FOR_NEXT_INT. Referenced by Controller::Controller(), Controller::kill(), main(), Controller::run(), and Daemon::~Daemon().

void hwInterface::writeControl (  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 134 of file hw_interface.cpp. References SSC::getNumber(), SSC::getValue(), servo_fd, shiftingServo, speedController, steeringServo, and writeEn. Referenced by Controller::kill(), main(), Controller::run(), stop(), stopAll(), updateAngle(), updatePower(), and Daemon::~Daemon().

---

Member Data Documentation

const double hwInterface::axleLength = 0.37465 [static]

Definition at line 74 of file hw_interface.h. Referenced by EncEstimator::update().

int hwInterface::driver_fd [protected]

Definition at line 51 of file hw_interface.h. Referenced by hwInterface(), readStatus(), reset(), wait(), and ~hwInterface().

const double hwInterface::metersPerTick = 1.0 / 3951.0979 [static]

Definition at line 73 of file hw_interface.h. Referenced by EncEstimator::update().

int hwInterface::servo_fd [protected]

Definition at line 52 of file hw_interface.h. Referenced by hwInterface(), writeControl(), and ~hwInterface().

SSC hwInterface::shiftingServo [protected]

Definition at line 57 of file hw_interface.h. Referenced by setShiftValue(), and writeControl().

SSC hwInterface::speedController [protected]

Definition at line 55 of file hw_interface.h. Referenced by setAdjustedSCPower(), setSCPower(), setSCValue(), and writeControl().

status_t hwInterface::status [protected]

Definition at line 50 of file hw_interface.h. Referenced by a2d(), encTicks(), encTicksBL(), encTicksBR(), encTicksFL(), encTicksFR(), getSteeringA2DValue(), irValueFL(), irValueFR(), and readStatus().

Servo hwInterface::steeringServo [protected]

Definition at line 56 of file hw_interface.h. Referenced by getAngle(), setAngle(), setSteeringValue(), and writeControl().

const double hwInterface::ticksPerMeter = 3951.0979 [static]

Definition at line 72 of file hw_interface.h.

const int hwInterface::ticksPerRevolution = 540*4 [static]

Definition at line 71 of file hw_interface.h. Referenced by printTicks().

float hwInterface::valueErr [protected]

Definition at line 59 of file hw_interface.h. Referenced by setAdjustedSCPower().

int hwInterface::writeEn [protected]

Definition at line 53 of file hw_interface.h. Referenced by hwInterface(), writeControl(), and ~hwInterface().

---

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

• truckd/hw_interface.h
• truckd/hw_interface.cpp

---