nxpcup::ObstacleDetectorWithServo Class Reference

#include <ObstacleDetectorWithServo.h>

Classes
struct	Config

Public Types
enum	AvoidingObstacle { AvoidingObstacle::no, AvoidingObstacle::onRightSide, AvoidingObstacle::onLeftSide }
using	ImageType = uint16_t
using	ObstacleImage = Image< ImageType, Config::IMAGE_SIZE >
	ObstacleDetectorWithServo (Config config)
int	servoAngle (int index)
int	servoPositionDegree () const
int	sensorValue () const
int	error (float encoderDistance, int borderDetectorError, int leftBorder, int rightBorder)
AvoidingObstacle	avoidingObstacle () const
int	avoidingObstacleInteger () const
int	distanceThatTriggered () const
Config	config () const
void	setConfig (Config &config)
void	reset ()

Member Typedef Documentation

using nxpcup::ObstacleDetectorWithServo::ImageType = uint16_t

using nxpcup::ObstacleDetectorWithServo::ObstacleImage = Image<ImageType, Config::IMAGE_SIZE>

Member Enumeration Documentation

enum nxpcup::ObstacleDetectorWithServo::AvoidingObstacle

strong

Enumerator
no
onRightSide
onLeftSide

Constructor & Destructor Documentation

nxpcup::ObstacleDetectorWithServo::ObstacleDetectorWithServo ( Config  config )

inline

Constructor of class ObstacleDetectorWithServo.

Parameters

config

structConfig}

Member Function Documentation

AvoidingObstacle nxpcup::ObstacleDetectorWithServo::avoidingObstacle ( ) const

inline

Get actual state of obstacle avoiding.

Returns

AvoidingObstacle}

int nxpcup::ObstacleDetectorWithServo::avoidingObstacleInteger ( ) const

inline

Get actual state of obstacle in integer value.

Returns

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

Config nxpcup::ObstacleDetectorWithServo::config ( ) const

inline

Get the actual configuration of theObstacleDetectorWithServo}.

int nxpcup::ObstacleDetectorWithServo::distanceThatTriggered ( ) const

inline

Get the distance that trigger the detector.

Returns

value without unit

int nxpcup::ObstacleDetectorWithServo::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

void nxpcup::ObstacleDetectorWithServo::reset ( )

inline

Reset this detector to initial state.

int nxpcup::ObstacleDetectorWithServo::sensorValue ( ) const

inline

Get current value from sensor (withnout unit).

int nxpcup::ObstacleDetectorWithServo::servoAngle ( int  index )

inline

Get the angle of servo for given index.

Parameters

index

of the position (the range is define byConfig::IMAGE_SIZE})

Returns

angle for the index

int nxpcup::ObstacleDetectorWithServo::servoPositionDegree ( ) const

inline

Get current servo position in degree.

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

inline

Set new configuration forObstacleDetectorWithServo}.

Parameters

config

structConfig}

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

• ObstacleDetectorWithServo.h