342 lines
17 KiB
TeX
342 lines
17 KiB
TeX
\hypertarget{group__lowerleveldrivesmeths}{}\section{Methods}
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\label{group__lowerleveldrivesmeths}\index{Methods@{Methods}}
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\subsection*{Functions}
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\begin{DoxyCompactItemize}
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\item
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void \hyperlink{group__lowerleveldrivesmeths_ga5812df751da5b480240ccd633c515b83}{Code\+Racer\+::drives\+\_\+settings} (uint8\+\_\+t drive\+\_\+left\+\_\+speed, uint8\+\_\+t drive\+\_\+right\+\_\+speed, unsigned long turn\+\_\+left\+\_\+ms, unsigned long turn\+\_\+right\+\_\+ms)
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\begin{DoxyCompactList}\small\item\em Overwrites some drive settings. This will replace the defaults set by the values in the header file. \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_ga61ed9e0415a62a290cc5c59a0f740304}{Code\+Racer\+::set\+\_\+drives\+\_\+stop\+\_\+left\+\_\+right} ()
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\begin{DoxyCompactList}\small\item\em Stopps both drives. \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_ga802d2646d9cc0d766e1ac799c7917fa8}{Code\+Racer\+::set\+\_\+drives\+\_\+states\+\_\+left\+\_\+right} (drivestate stateleft, drivestate stateright)
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\begin{DoxyCompactList}\small\item\em Sets both of the drives to a specified drivestate (D\+R\+I\+V\+E\+S\+T\+OP, D\+R\+I\+V\+E\+F\+R\+WD, D\+R\+I\+V\+E\+B\+A\+CK) \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_ga1eeb3cb47503c3011562f9c42828fab9}{Code\+Racer\+::set\+\_\+drive\+\_\+left\+\_\+state} (drivestate state)
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\begin{DoxyCompactList}\small\item\em Sets the left side drive to the specified drivestate (D\+R\+I\+V\+E\+S\+T\+OP, D\+R\+I\+V\+E\+F\+R\+WD, D\+R\+I\+V\+E\+B\+A\+CK) \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_ga1b34ec9cee1f21cd15db310167a2faa5}{Code\+Racer\+::set\+\_\+drive\+\_\+right\+\_\+state} (drivestate state)
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\begin{DoxyCompactList}\small\item\em Sets the right side drive to the specified drivestate (D\+R\+I\+V\+E\+S\+T\+OP, D\+R\+I\+V\+E\+F\+R\+WD, D\+R\+I\+V\+E\+B\+A\+CK) \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_ga3b69cf4a718c842fbe758d3f4267214e}{Code\+Racer\+::set\+\_\+drive\+\_\+state} (drivestate state, uint8\+\_\+t frwdpin, uint8\+\_\+t backpin)
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\begin{DoxyCompactList}\small\item\em Sets the specified drivestate for the drive connected to the sepecified pins (D\+R\+I\+V\+E\+S\+T\+OP, D\+R\+I\+V\+E\+F\+R\+WD, D\+R\+I\+V\+E\+B\+A\+CK) \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_ga3d3ffb41783d34589e33cf61fed46c70}{Code\+Racer\+::set\+\_\+drives\+\_\+speed\+\_\+left\+\_\+right} (uint8\+\_\+t speedleft, uint8\+\_\+t speedright)
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\begin{DoxyCompactList}\small\item\em Sets the speed for both of the drives. \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_ga1ee3da20ec98a821ab97ced070974861}{Code\+Racer\+::set\+\_\+drive\+\_\+left\+\_\+speed} (uint8\+\_\+t speed)
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\begin{DoxyCompactList}\small\item\em Sets the speed for the left side drive. \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_gaf8805d0d620a2fb78c576f36a2c81073}{Code\+Racer\+::set\+\_\+drive\+\_\+right\+\_\+speed} (uint8\+\_\+t speed)
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\begin{DoxyCompactList}\small\item\em Sets the speed for the right side drive. \end{DoxyCompactList}\item
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void \hyperlink{group__lowerleveldrivesmeths_ga5d67c84606d5b39996a99fcd6e7eb314}{Code\+Racer\+::set\+\_\+drive\+\_\+speed} (uint8\+\_\+t speed, uint8\+\_\+t enablepin)
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\begin{DoxyCompactList}\small\item\em Sets the speed for the drive of the enable pin connected to the specified pin. \end{DoxyCompactList}\end{DoxyCompactItemize}
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\subsection{Detailed Description}
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\subsection{Function Documentation}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga5812df751da5b480240ccd633c515b83}\label{group__lowerleveldrivesmeths_ga5812df751da5b480240ccd633c515b83}}
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\index{Methods@{Methods}!drives\+\_\+settings@{drives\+\_\+settings}}
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\index{drives\+\_\+settings@{drives\+\_\+settings}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{drives\+\_\+settings()}{drives\_settings()}}
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{\footnotesize\ttfamily void Code\+Racer\+::drives\+\_\+settings (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{drive\+\_\+left\+\_\+speed, }\item[{uint8\+\_\+t}]{drive\+\_\+right\+\_\+speed, }\item[{unsigned long}]{turn\+\_\+left\+\_\+for\+\_\+ms, }\item[{unsigned long}]{turn\+\_\+right\+\_\+for\+\_\+ms }\end{DoxyParamCaption})}
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Overwrites some drive settings. This will replace the defaults set by the values in the header file.
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\begin{DoxyParams}{Parameters}
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{\em drive\+\_\+left\+\_\+speed} & Speed of the left side drive \\
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\hline
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{\em drive\+\_\+right\+\_\+speed} & Speed of the right side drive \\
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\hline
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{\em turn\+\_\+left\+\_\+for\+\_\+ms} & Time in ms the racer will turn to the left around its center if turn\+\_\+left() is called \\
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\hline
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{\em turn\+\_\+right\+\_\+for\+\_\+ms} & Time in ms the racer will turn to the right around its center if turn\+\_\+right() is called \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 878 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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879 \{
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880 \_drive\_left\_speed = drive\_left\_speed;
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881 \_drive\_right\_speed = drive\_right\_speed;
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882 \_turn\_left\_for\_ms = turn\_left\_for\_ms;
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883 \_turn\_right\_for\_ms = turn\_right\_for\_ms;
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884 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga61ed9e0415a62a290cc5c59a0f740304}\label{group__lowerleveldrivesmeths_ga61ed9e0415a62a290cc5c59a0f740304}}
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\index{Methods@{Methods}!set\+\_\+drives\+\_\+stop\+\_\+left\+\_\+right@{set\+\_\+drives\+\_\+stop\+\_\+left\+\_\+right}}
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\index{set\+\_\+drives\+\_\+stop\+\_\+left\+\_\+right@{set\+\_\+drives\+\_\+stop\+\_\+left\+\_\+right}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drives\+\_\+stop\+\_\+left\+\_\+right()}{set\_drives\_stop\_left\_right()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drives\+\_\+stop\+\_\+left\+\_\+right (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
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Stopps both drives.
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 889 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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889 \{
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890 set\_drive\_left\_state(DRIVESTOP);
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891 set\_drive\_right\_state(DRIVESTOP);
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892 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga802d2646d9cc0d766e1ac799c7917fa8}\label{group__lowerleveldrivesmeths_ga802d2646d9cc0d766e1ac799c7917fa8}}
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\index{Methods@{Methods}!set\+\_\+drives\+\_\+states\+\_\+left\+\_\+right@{set\+\_\+drives\+\_\+states\+\_\+left\+\_\+right}}
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\index{set\+\_\+drives\+\_\+states\+\_\+left\+\_\+right@{set\+\_\+drives\+\_\+states\+\_\+left\+\_\+right}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drives\+\_\+states\+\_\+left\+\_\+right()}{set\_drives\_states\_left\_right()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drives\+\_\+states\+\_\+left\+\_\+right (\begin{DoxyParamCaption}\item[{drivestate}]{stateleft, }\item[{drivestate}]{stateright }\end{DoxyParamCaption})}
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Sets both of the drives to a specified drivestate (D\+R\+I\+V\+E\+S\+T\+OP, D\+R\+I\+V\+E\+F\+R\+WD, D\+R\+I\+V\+E\+B\+A\+CK)
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\begin{DoxyParams}{Parameters}
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{\em stateleft} & drivestate to set for the left side drive \\
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\hline
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{\em stateright} & drivestate to set for the right side drive \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 899 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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899 \{
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900 set\_drive\_left\_state(stateleft);
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901 set\_drive\_right\_state(stateright);
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902 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga1eeb3cb47503c3011562f9c42828fab9}\label{group__lowerleveldrivesmeths_ga1eeb3cb47503c3011562f9c42828fab9}}
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\index{Methods@{Methods}!set\+\_\+drive\+\_\+left\+\_\+state@{set\+\_\+drive\+\_\+left\+\_\+state}}
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\index{set\+\_\+drive\+\_\+left\+\_\+state@{set\+\_\+drive\+\_\+left\+\_\+state}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drive\+\_\+left\+\_\+state()}{set\_drive\_left\_state()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drive\+\_\+left\+\_\+state (\begin{DoxyParamCaption}\item[{drivestate}]{state }\end{DoxyParamCaption})}
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Sets the left side drive to the specified drivestate (D\+R\+I\+V\+E\+S\+T\+OP, D\+R\+I\+V\+E\+F\+R\+WD, D\+R\+I\+V\+E\+B\+A\+CK)
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\begin{DoxyParams}{Parameters}
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{\em state} & drivestate to set for the left side drive \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 908 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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908 \{
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909 set\_drive\_state(state, \_drive\_left\_frwd\_pin, \_drive\_left\_back\_pin);
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910 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga1b34ec9cee1f21cd15db310167a2faa5}\label{group__lowerleveldrivesmeths_ga1b34ec9cee1f21cd15db310167a2faa5}}
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\index{Methods@{Methods}!set\+\_\+drive\+\_\+right\+\_\+state@{set\+\_\+drive\+\_\+right\+\_\+state}}
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\index{set\+\_\+drive\+\_\+right\+\_\+state@{set\+\_\+drive\+\_\+right\+\_\+state}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drive\+\_\+right\+\_\+state()}{set\_drive\_right\_state()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drive\+\_\+right\+\_\+state (\begin{DoxyParamCaption}\item[{drivestate}]{state }\end{DoxyParamCaption})}
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Sets the right side drive to the specified drivestate (D\+R\+I\+V\+E\+S\+T\+OP, D\+R\+I\+V\+E\+F\+R\+WD, D\+R\+I\+V\+E\+B\+A\+CK)
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\begin{DoxyParams}{Parameters}
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{\em state} & drivestate to set for the right side drive \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 916 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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916 \{
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917 set\_drive\_state(state, \_drive\_right\_frwd\_pin, \_drive\_right\_back\_pin);
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918 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga3b69cf4a718c842fbe758d3f4267214e}\label{group__lowerleveldrivesmeths_ga3b69cf4a718c842fbe758d3f4267214e}}
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\index{Methods@{Methods}!set\+\_\+drive\+\_\+state@{set\+\_\+drive\+\_\+state}}
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\index{set\+\_\+drive\+\_\+state@{set\+\_\+drive\+\_\+state}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drive\+\_\+state()}{set\_drive\_state()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drive\+\_\+state (\begin{DoxyParamCaption}\item[{drivestate}]{state, }\item[{uint8\+\_\+t}]{frwdpin, }\item[{uint8\+\_\+t}]{backpin }\end{DoxyParamCaption})}
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Sets the specified drivestate for the drive connected to the sepecified pins (D\+R\+I\+V\+E\+S\+T\+OP, D\+R\+I\+V\+E\+F\+R\+WD, D\+R\+I\+V\+E\+B\+A\+CK)
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\begin{DoxyParams}{Parameters}
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{\em state} & drivestate to set for the connected drive \\
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\hline
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{\em frwdpin} & Pin the forward signal of the drive device driver is connected at \\
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\hline
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{\em backpin} & Pin the backward signal of the drive device driver is connected at \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 926 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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926 \{
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927 \textcolor{keywordflow}{switch} (state) \{
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928 \textcolor{keywordflow}{case} DRIVESTOP:
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929 digitalWrite(frwdpin, LOW);
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930 digitalWrite(backpin, LOW);
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931 \textcolor{keywordflow}{break};
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932 \textcolor{keywordflow}{case} DRIVEFRWD:
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933 digitalWrite(frwdpin, HIGH);
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934 digitalWrite(backpin, LOW);
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935 \textcolor{keywordflow}{break};
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936 \textcolor{keywordflow}{case} DRIVEBACK:
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937 digitalWrite(frwdpin, LOW);
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938 digitalWrite(backpin, HIGH);
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939 \textcolor{keywordflow}{break};
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940 \}
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941 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga3d3ffb41783d34589e33cf61fed46c70}\label{group__lowerleveldrivesmeths_ga3d3ffb41783d34589e33cf61fed46c70}}
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\index{Methods@{Methods}!set\+\_\+drives\+\_\+speed\+\_\+left\+\_\+right@{set\+\_\+drives\+\_\+speed\+\_\+left\+\_\+right}}
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\index{set\+\_\+drives\+\_\+speed\+\_\+left\+\_\+right@{set\+\_\+drives\+\_\+speed\+\_\+left\+\_\+right}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drives\+\_\+speed\+\_\+left\+\_\+right()}{set\_drives\_speed\_left\_right()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drives\+\_\+speed\+\_\+left\+\_\+right (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{speedleft, }\item[{uint8\+\_\+t}]{speedright }\end{DoxyParamCaption})}
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Sets the speed for both of the drives.
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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
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\begin{DoxyParams}{Parameters}
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{\em speedleft} & speed of the left side drive. 0$<$=speed$<$=255 \\
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\hline
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{\em speedright} & speed of the right side drive. 0$<$=speed$<$=255 \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 950 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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950 \{
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951 set\_drive\_left\_speed(speedleft);
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952 set\_drive\_right\_speed(speedright);
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953 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga1ee3da20ec98a821ab97ced070974861}\label{group__lowerleveldrivesmeths_ga1ee3da20ec98a821ab97ced070974861}}
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\index{Methods@{Methods}!set\+\_\+drive\+\_\+left\+\_\+speed@{set\+\_\+drive\+\_\+left\+\_\+speed}}
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\index{set\+\_\+drive\+\_\+left\+\_\+speed@{set\+\_\+drive\+\_\+left\+\_\+speed}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drive\+\_\+left\+\_\+speed()}{set\_drive\_left\_speed()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drive\+\_\+left\+\_\+speed (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{speed }\end{DoxyParamCaption})}
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Sets the speed for the left side drive.
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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
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\begin{DoxyParams}{Parameters}
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{\em speed} & speed of the left side drive. 0$<$=speed$<$=255 \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 961 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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961 \{
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962 set\_drive\_speed(speed, \_drive\_left\_enable\_pin);
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963 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_gaf8805d0d620a2fb78c576f36a2c81073}\label{group__lowerleveldrivesmeths_gaf8805d0d620a2fb78c576f36a2c81073}}
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\index{Methods@{Methods}!set\+\_\+drive\+\_\+right\+\_\+speed@{set\+\_\+drive\+\_\+right\+\_\+speed}}
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\index{set\+\_\+drive\+\_\+right\+\_\+speed@{set\+\_\+drive\+\_\+right\+\_\+speed}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drive\+\_\+right\+\_\+speed()}{set\_drive\_right\_speed()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drive\+\_\+right\+\_\+speed (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{speed }\end{DoxyParamCaption})}
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Sets the speed for the right side drive.
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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
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\begin{DoxyParams}{Parameters}
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{\em speed} & speed of the right side drive. 0$<$=speed$<$=255 \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 971 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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971 \{
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972 set\_drive\_speed(speed, \_drive\_right\_enable\_pin);
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973 \}
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\end{DoxyCode}
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\mbox{\Hypertarget{group__lowerleveldrivesmeths_ga5d67c84606d5b39996a99fcd6e7eb314}\label{group__lowerleveldrivesmeths_ga5d67c84606d5b39996a99fcd6e7eb314}}
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\index{Methods@{Methods}!set\+\_\+drive\+\_\+speed@{set\+\_\+drive\+\_\+speed}}
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\index{set\+\_\+drive\+\_\+speed@{set\+\_\+drive\+\_\+speed}!Methods@{Methods}}
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\subsubsection{\texorpdfstring{set\+\_\+drive\+\_\+speed()}{set\_drive\_speed()}}
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{\footnotesize\ttfamily void Code\+Racer\+::set\+\_\+drive\+\_\+speed (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{speed, }\item[{uint8\+\_\+t}]{enablepin }\end{DoxyParamCaption})}
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Sets the speed for the drive of the enable pin connected to the specified pin.
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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
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\begin{DoxyParams}{Parameters}
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{\em speed} & speed of the drive. 0$<$=speed$<$=255 \\
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\hline
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{\em enablepin} & Pin the drives device driver enable pin is connected at \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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nothing
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\end{DoxyReturn}
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Definition at line 982 of file Code\+Racer.\+cpp.
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\begin{DoxyCode}
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982 \{
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983 \_analog\_write(enablepin, (\textcolor{keywordtype}{int})speed);
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984 \}
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\end{DoxyCode}
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