Methods

Functions
void	CodeRacer::drives_settings (uint8_t drive_left_speed, uint8_t drive_right_speed, unsigned long turn_left_ms, unsigned long turn_right_ms)
	Overwrites some drive settings. This will replace the defaults set by the values in the header file. More...
void	CodeRacer::set_drives_stop_left_right ()
	Stopps both drives. More...
void	CodeRacer::set_drives_states_left_right (drivestate stateleft, drivestate stateright)
	Sets both of the drives to a specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK) More...
void	CodeRacer::set_drive_left_state (drivestate state)
	Sets the left side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK) More...
void	CodeRacer::set_drive_right_state (drivestate state)
	Sets the right side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK) More...
void	CodeRacer::set_drive_state (drivestate state, uint8_t frwdpin, uint8_t backpin)
	Sets the specified drivestate for the drive connected to the sepecified pins (DRIVESTOP, DRIVEFRWD, DRIVEBACK) More...
void	CodeRacer::set_drives_speed_left_right (uint8_t speedleft, uint8_t speedright)
	Sets the speed for both of the drives. More...
void	CodeRacer::set_drive_left_speed (uint8_t speed)
	Sets the speed for the left side drive. More...
void	CodeRacer::set_drive_right_speed (uint8_t speed)
	Sets the speed for the right side drive. More...
void	CodeRacer::set_drive_speed (uint8_t speed, uint8_t enablepin)
	Sets the speed for the drive of the enable pin connected to the specified pin. More...

Detailed Description

Function Documentation

drives_settings()

void CodeRacer::drives_settings	(	uint8_t	drive_left_speed,
		uint8_t	drive_right_speed,
		unsigned long	turn_left_for_ms,
		unsigned long	turn_right_for_ms
	)

Overwrites some drive settings. This will replace the defaults set by the values in the header file.

Parameters

drive_left_speed	Speed of the left side drive
drive_right_speed	Speed of the right side drive
turn_left_for_ms	Time in ms the racer will turn to the left around its center if turn_left() is called
turn_right_for_ms	Time in ms the racer will turn to the right around its center if turn_right() is called

Returns

nothing

Definition at line 878 of file CodeRacer.cpp.

{
    _drive_left_speed = drive_left_speed;
    _drive_right_speed = drive_right_speed;
    _turn_left_for_ms = turn_left_for_ms;
    _turn_right_for_ms = turn_right_for_ms;
}

set_drives_stop_left_right()

void CodeRacer::set_drives_stop_left_right

(

)

Stopps both drives.

Returns

nothing

Definition at line 889 of file CodeRacer.cpp.

                                           {
    set_drive_left_state(DRIVESTOP);
    set_drive_right_state(DRIVESTOP);
}

set_drives_states_left_right()

void CodeRacer::set_drives_states_left_right	(	drivestate	stateleft,
		drivestate	stateright
	)

Sets both of the drives to a specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK)

Parameters

stateleft	drivestate to set for the left side drive
stateright	drivestate to set for the right side drive

Returns

nothing

Definition at line 899 of file CodeRacer.cpp.

                                                                                        {
    set_drive_left_state(stateleft);
    set_drive_right_state(stateright);
}

set_drive_left_state()

void CodeRacer::set_drive_left_state

(

drivestate

state

)

Sets the left side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK)

Parameters

state

drivestate to set for the left side drive

Returns

nothing

Definition at line 908 of file CodeRacer.cpp.

                                                     {
    set_drive_state(state, _drive_left_frwd_pin, _drive_left_back_pin);
}

set_drive_right_state()

void CodeRacer::set_drive_right_state

(

drivestate

state

)

Sets the right side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK)

Parameters

state

drivestate to set for the right side drive

Returns

nothing

Definition at line 916 of file CodeRacer.cpp.

                                                      {
    set_drive_state(state, _drive_right_frwd_pin, _drive_right_back_pin);
}

set_drive_state()

void CodeRacer::set_drive_state	(	drivestate	state,
		uint8_t	frwdpin,
		uint8_t	backpin
	)

Sets the specified drivestate for the drive connected to the sepecified pins (DRIVESTOP, DRIVEFRWD, DRIVEBACK)

Parameters

state	drivestate to set for the connected drive
frwdpin	Pin the forward signal of the drive device driver is connected at
backpin	Pin the backward signal of the drive device driver is connected at

Returns

nothing

Definition at line 926 of file CodeRacer.cpp.

                                                                                  {
    switch (state) {
    case DRIVESTOP:
        digitalWrite(frwdpin, LOW);
        digitalWrite(backpin, LOW);
        break;
    case DRIVEFRWD:
        digitalWrite(frwdpin, HIGH);
        digitalWrite(backpin, LOW);
        break;
    case DRIVEBACK:
        digitalWrite(frwdpin, LOW);
        digitalWrite(backpin, HIGH);
        break;
    }
}

set_drives_speed_left_right()

void CodeRacer::set_drives_speed_left_right	(	uint8_t	speedleft,
		uint8_t	speedright
	)

Sets the speed for both of the drives.

The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before

Parameters

speedleft	speed of the left side drive. 0<=speed<=255
speedright	speed of the right side drive. 0<=speed<=255

Returns

nothing

Definition at line 950 of file CodeRacer.cpp.

                                                                                 {
    set_drive_left_speed(speedleft);
    set_drive_right_speed(speedright);
}

set_drive_left_speed()

void CodeRacer::set_drive_left_speed

(

uint8_t

speed

)

Sets the speed for the left side drive.

The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before

Parameters

speed

speed of the left side drive. 0<=speed<=255

Returns

nothing

Definition at line 961 of file CodeRacer.cpp.

                                                  {
    set_drive_speed(speed, _drive_left_enable_pin);
}

set_drive_right_speed()

void CodeRacer::set_drive_right_speed

(

uint8_t

speed

)

Sets the speed for the right side drive.

The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before

Parameters

speed

speed of the right side drive. 0<=speed<=255

Returns

nothing

Definition at line 971 of file CodeRacer.cpp.

                                                   {
    set_drive_speed(speed, _drive_right_enable_pin);
}

set_drive_speed()

void CodeRacer::set_drive_speed	(	uint8_t	speed,
		uint8_t	enablepin
	)

Sets the speed for the drive of the enable pin connected to the specified pin.

The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before

Parameters

speed	speed of the drive. 0<=speed<=255
enablepin	Pin the drives device driver enable pin is connected at

Returns

nothing

Definition at line 982 of file CodeRacer.cpp.

                                                                {
    _analog_write(enablepin, (int)speed);
}