This class will read a config packet from the robot. More...

#include <ArRobotConfigPacketReader.h>

Public Member Functions
	ArRobotConfigPacketReader (ArRobot robot, bool onlyOneRequest=false, ArFunctor packetedArrivedCB=NULL)
	Constructor. More...

std::string	buildString (void) const
	Builds a string of the info. More...

std::string	buildStringMovement (void) const
	Builds a string of the movement info. More...

void	connected (void)
	internal, connection callback

int	getAux1Baud (void) const
	Gets the host baud number, look at the manual for what these mean.

int	getAux2Baud (void) const
	Returns the Aux2 baud number, look at the manual for what these mean.

int	getAux3Baud (void) const
	Returns the Aux3 baud number, look at the manual for what these mean.

unsigned char	getBatteryType (void) const
	Gets the battery type.

int	getDriftFactor (void) const
	Returns the DriftFactor value (see the manual)

const char *	getFirmwareVersion (void) const
	Gets the firmware version.

int	getFrontBumps (void) const
	Returns the number of front bumpers.

bool	getFrontSonar (void) const
	Gets whether or not the robot has front sonar.

int	getGyroCCW (void) const
	Gets the gyro CCW value.

int	getGyroCW (void) const
	Gets the gyro CW value.

int	getGyroRateLimit (void) const
	Gets the port the PDB is on.

int	getGyroType (void) const
	Returns if the robot has a gyro or not.

int	getHasCharger (void) const
	Returns whether the robot has a charger.

bool	getHasGripper (void) const
	Gets the gripper value (whether or not the robot has a gripper)

bool	getHasGyro (void) const
	Returns if the robot has a gyro or not.

char	getHighTemperatureShutdown (void) const
	Gets the high temperature threshold.

int	getHostBaud (void) const
	Gets the host baud number, look at the manual for what these mean.

int	getJoyRotVel (void) const
	Returns the joystick rotational velocity.

int	getJoyVel (void) const
	Returns the joystick translational velocity.

int	getKinematicsDelay (void) const
	Gets the kinematics delay.

int	getLatAccel (void) const
	Returns the lateral acceleration.

int	getLatAccelTop (void) const
	Gets the absolute maximum lateral acceleration in mm/sec/sec (cannot be set above this in firmware or through software)

int	getLatDecel (void) const
	Returns the lateral deceleration.

int	getLatVelMax (void) const
	Returns the current maximum lateral velocity (mm/sec) (can be set)

int	getLatVelTop (void) const
	Gets the absolute maximum lateral velocity in mm/sec (cannot be set above this in firmware or through software)

int	getLowBattery (void) const
	Gets the low battery beeping indicating voltage times 10.

const char *	getName (void) const
	Gets the name of the robot.

bool	getNormalMPacs (void) const
	Returns if the robot is using normal packets or new style packets.

unsigned char	getPDBPort (void) const
	Gets the port the PDB is on.

int	getPowerBits (void) const
	Gets the power bits.

int	getPowerbotChargeThreshold (void) const
	Gets the powerbot charge threshold.

int	getPwmMax (void) const
	Gets the maximum PWM the robot will have (stallval cannot be above this)

int	getRearBumps (void) const
	Returns the number of rear bumpers.

bool	getRearSonar (void) const
	Gets whether or not the robot has rear sonar.

bool	getResetBaud (void) const
	Returns the baud rate.

int	getRevCount (void) const
	Gets the revcount.

const ArRobotPacket *	getRobotPacket (void) const
	Gets a pointer to the packet that we built the config packet from.

int	getRotAccel (void) const
	Returns the rotational acceleration.

int	getRotAccelTop (void) const
	Gets the absolute maximum rotational acceleration in deg/sec/sec (cannot be set above this in firmware or through software)

int	getRotDecel (void) const
	Returns the rotational deceleration.

int	getRotKI (void) const
	Returns the rotational KI value (look at the manual)

int	getRotKP (void) const
	Returns the rotational KP value (look at the manual)

int	getRotKV (void) const
	Returns the rotational KV value (look at the manual)

int	getRotVelMax (void) const
	Returns the current maximum rotational velocity (deg/sec) (can be set)

int	getRotVelTop (void) const
	Gets the absolute maximum rotational velocity in deg/sec (cannot be set above this in firmware or through software)

const char *	getSerialNumber (void) const
	Gets the serial number of the robot.

int	getShutdownVoltage (void) const
	Returns the voltage (x10) that the robot will shut down the computer at.

int	getSipCycleTime (void) const
	Gets the cycle time in ms of the motor packets.

int	getSonarCycle (void) const
	Returns the number of ms the sonar cycle is (default is 40)

int	getStallCount (void) const
	Returns the stallcount (how many 10ms increments robot stops after stall)

int	getStallVal (void) const
	Returns the stallval (pwms at which robot stalls)

int	getStateOfChargeLow (void) const
	Gets the warning state of charge.

int	getStateOfChargeShutdown (void) const
	Gets the shutdown state of charge.

const char *	getSubType (void) const
	Gets the subtype of robot.

int	getTicksMM (void) const
	Returns the Ticks/MM for the robot.

int	getTransAccel (void) const
	Returns the translational acceleration.

int	getTransAccelTop (void) const
	Gets the absolute maximum translational acceleration in mm/sec/sec (cannot be set above this in firmware or through software)

int	getTransDecel (void) const
	Returns the translational deceleration.

int	getTransKI (void) const
	Returns the translational KI value (look at the manual)

int	getTransKP (void) const
	Returns the translational KP value (look at the manual)

int	getTransKV (void) const
	Returns the translational KV value (look at the manual)

int	getTransVelMax (void) const
	Returns the current maximum translational velocity (mm/sec) (can be set)

int	getTransVelTop (void) const
	Gets the absolute maximum translational velocity in mm/sec (cannot be set above this in firmware or through software)

const char *	getType (void) const
	Gets the type of robot.

int	getWatchdog (void) const
	Gets the watchdog (how many ms after command robot stops)

bool	hasPacketArrived (void) const
	See if we've gotten the data.

bool	hasPacketBeenRequested (void) const
	See if we've requested a packet yet.

void	log (void) const
	Log the config.

void	logMovement (void) const
	Log the movement part of the config config.

bool	packetHandler (ArRobotPacket *packet)
	internal, packet handler

bool	requestPacket (void)
	Request a packet.. true if we could, false if onlyOneRequest already done.

	~ArRobotConfigPacketReader ()
	Destructor.

Protected Attributes
int	myAux1Baud

int	myAux2Baud

int	myAux3Baud

unsigned char	myBatteryType

ArFunctorC< ArRobotConfigPacketReader >	myConnectedCB

int	myDriftFactor

std::string	myFirmwareVersion

int	myFrontBumps

bool	myFrontSonar

int	myGyroCCW

int	myGyroCW

int	myGyroRateLimit

int	myGyroType

int	myHasCharger

bool	myHasGripper

bool	myHasGyro

char	myHighTemperatureShutdown

int	myHostBaud

int	myJoyRotVel

int	myJoyVel

int	myKinematicsDelay

ArTime	myLastPacketRequest

int	myLatAccel

int	myLatAccelTop

int	myLatDecel

int	myLatVelMax

int	myLatVelTop

int	myLowBattery

std::string	myName

bool	myNormalMPacs

bool	myOnlyOneRequest

ArRobotPacket	myPacket

bool	myPacketArrived

ArFunctor *	myPacketArrivedCB

ArRetFunctor1C< bool, ArRobotConfigPacketReader, ArRobotPacket * >	myPacketHandlerCB

bool	myPacketRequested

unsigned char	myPDBPort

int	myPowerBits

int	myPowerbotChargeThreshold

int	myPwmMax

int	myRearBumps

bool	myRearSonar

bool	myResetBaud

int	myRevCount

ArRobot *	myRobot

int	myRotAccel

int	myRotAccelTop

int	myRotDecel

int	myRotKI

int	myRotKP

int	myRotKV

int	myRotVelMax

int	myRotVelTop

std::string	mySerialNumber

int	myShutdownVoltage

int	mySipCycleTime

int	mySonarCycle

int	myStallCount

int	myStallVal

int	myStateOfChargeLow

int	myStateOfChargeShutdown

std::string	mySubType

int	myTicksMM

int	myTransAccel

int	myTransAccelTop

int	myTransDecel

int	myTransKI

int	myTransKP

int	myTransKV

int	myTransVelMax

int	myTransVelTop

std::string	myType

int	myWatchdog

Detailed Description

This class will read a config packet from the robot.

Constructor & Destructor Documentation

◆ ArRobotConfigPacketReader()

ArRobotConfigPacketReader::ArRobotConfigPacketReader	(	ArRobot *	robot,
		bool	onlyOneRequest = `false`,
		ArFunctor *	packetArrivedCB = `NULL`
	)

Constructor.

Parameters

robot	is the robot to connect this to
onlyOneRequest	if this is true then only one request for a packet will ever be honored (so that you can save the settings from one point in time)
packetArrivedCB	a functor to call when the packet comes in, note the robot is locked during this callback

Member Function Documentation

◆ buildString()

std::string ArRobotConfigPacketReader::buildString ( void ) const

Builds a string of the info.

Like most memory stuff this won't work across DLL's in windows, it should work fine in linux or with static library files in windows.

◆ buildStringMovement()

std::string ArRobotConfigPacketReader::buildStringMovement ( void ) const

Builds a string of the movement info.