nxpcup::ObstacleDetector Class Reference

#include <ObstacleDetector.h>

Classes
struct	Config

Public Types
enum	AvoidingObstacle { AvoidingObstacle::no, AvoidingObstacle::onRightSide, AvoidingObstacle::onLeftSide }
	ObstacleDetector (Config &config)
int	error (float encoderDistance, int borderDetectorError, int leftBorder, int rightBorder)
int	leftSensorValue () const
int	rightSensorValue () const
AvoidingObstacle	avoidingObstacle () const
int	avoidingObstacleInteger () const
Config	config () const
void	setConfig (Config &config)
void	reset ()

Member Enumeration Documentation

enum nxpcup::ObstacleDetector::AvoidingObstacle

strong

Enumerator
no
onRightSide
onLeftSide

Constructor & Destructor Documentation

nxpcup::ObstacleDetector::ObstacleDetector ( Config &  config )

inline

Constructor of class ObstacleDetector.

Parameters

config

structConfig}

Member Function Documentation

AvoidingObstacle nxpcup::ObstacleDetector::avoidingObstacle ( ) const

inline

Get actual state of obstacle avoiding.

Returns

AvoidingObstacle}

int nxpcup::ObstacleDetector::avoidingObstacleInteger ( ) const

inline

Get actual state of obstacle in integer value.

Returns

transformedAvoidingObstacle}: -1 = left, 1 = right, 0 = nothing

Config nxpcup::ObstacleDetector::config ( ) const

inline

Get the actual configuration of theObstacleDetector}.

int nxpcup::ObstacleDetector::error ( float  encoderDistance, int  borderDetectorError, int  leftBorder, int  rightBorder  )

inline

Check the error on sensors and modify the trajectory if find obstacle.

Parameters

encoderDistance	distance from one encoder
borderDetectorError	error from border detector
leftBorder	positon of left border from border detector
rightBorder	positon of right border from border detector

int nxpcup::ObstacleDetector::leftSensorValue ( ) const

inline

Get the last measured value from left sensor.

Returns

measured distance without unit

void nxpcup::ObstacleDetector::reset ( )

inline

Reset this detector to initial state.

int nxpcup::ObstacleDetector::rightSensorValue ( ) const

inline

Get the last measured value from right sensor.

Returns

measured distance without unit

void nxpcup::ObstacleDetector::setConfig ( Config &  config )

inline

Set new configuration forObstacleDetector}.

Parameters

config

structConfig}

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

• ObstacleDetector.h