C++ (Cpp) setCarStat Examples

Example #1

File: Omni4WD.cpp Project: Tony-YI/home_page

bool Omni4WD::PIDDisable() {
	setCarStat(STAT_UNKNOWN);
	_wheelUL->PIDDisable(); _wheelUL->runPWM(0,DIR_ADVANCE);
	_wheelLL->PIDDisable(); _wheelLL->runPWM(0,DIR_ADVANCE);
	_wheelLR->PIDDisable(); _wheelLR->runPWM(0,DIR_ADVANCE);
	_wheelUR->PIDDisable(); _wheelUR->runPWM(0,DIR_ADVANCE);
	return false;
}

Example #2

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarAdvance(int speedMMPS) {
	setCarStat(STAT_ADVANCE);
	//wheelULSetSpeedMMPS(speedMMPS,DIR_ADVANCE);
	//wheelLLSetSpeedMMPS(speedMMPS,DIR_ADVANCE);
	//wheelLRSetSpeedMMPS(speedMMPS,DIR_BACKOFF);
	//wheelURSetSpeedMMPS(speedMMPS,DIR_BACKOFF);
	//return wheelULGetSpeedMMPS();
	return setCarMove(speedMMPS,PI/2,0);
}

Example #3

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarUpperLeft(int speedMMPS) {
	setCarStat(STAT_UPPERLEFT);
	//speedMMPS*=2;
	//wheelULSetSpeedMMPS(0,DIR_ADVANCE);
	//wheelLLSetSpeedMMPS(speedMMPS,DIR_ADVANCE);
	//wheelLRSetSpeedMMPS(0,DIR_ADVANCE);
	//wheelURSetSpeedMMPS(speedMMPS,DIR_BACKOFF);
	//return wheelLLGetSpeedMMPS();
	return setCarMove(speedMMPS,PI*3/4,0);
}

Example #4

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarRotateRightDegree(float degree, int speedMMPS)
{
	setCarStat(STAT_ROTATERIGHT);
    
	float pi = 3.1415926;
	int d = 500; //mm
    int ms = round(((degree * pi * d / 360) / speedMMPS) * 1000);
    
	wheelULSetSpeedMMPS(speedMMPS);
	wheelLRSetSpeedMMPS(speedMMPS);
	wheelLLSetSpeedMMPS(speedMMPS);
	wheelURSetSpeedMMPS(speedMMPS);
    
	delayMS(ms);

	setCarStop();
}

Example #5

File: control.c Project: lh36/onboard-control-multi

unsigned int setCarBackoff(unsigned int speedMMPS) 
{
	unsigned int temp=150+speedMMPS;
	setCarStat(STAT_BACKOFF);
	return setMotorAll(temp);
}

Example #6

File: control.c Project: lh36/onboard-control-multi

unsigned int setCarAdvance(unsigned int speedMMPS) 
{
	unsigned int temp=150-speedMMPS;
	setCarStat(STAT_ADVANCE);
	return setMotorAll(temp);
}

Example #7

File: control.c Project: lh36/onboard-control-multi

unsigned int setCarStop()
{
	setCarStat(STAT_STOP);
	return setMotorAll(150);	
}																												    

Example #8

File: Omni4WD.cpp Project: Tony-YI/home_page

unsigned int Omni4WD::setCarStop(unsigned int mm) {
	setCarStat(STAT_STOP);
	return setMotorAllStop();
}

Example #9

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarRight(int speedMMPS) {
	setCarStat(STAT_RIGHT);
	return setCarMove(speedMMPS,0,0);
}

Example #10

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarRotateRight(int speedMMPS) {
	setCarStat(STAT_ROTATERIGHT);
	return setCarRotate(-speedMMPS/(sqrt(pow(getWheelspan()/2,2)*2)));
}

Example #11

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarRotateLeft(int speedMMPS) {
	setCarStat(STAT_ROTATELEFT);
	return setCarRotate(speedMMPS/(sqrt(pow(getWheelspan()/2,2)*2)));
}

Example #12

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarUpperRight(int speedMMPS) {
	setCarStat(STAT_UPPERRIGHT);
	return setCarMove(speedMMPS,PI/4,0);
}

Example #13

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarLowerRight(int speedMMPS) {
	setCarStat(STAT_LOWERRIGHT);
	return setCarMove(speedMMPS,PI*7/4,0);
}

Example #14

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarLowerLeft(int speedMMPS) {
	setCarStat(STAT_LOWERLEFT);
	return setCarMove(speedMMPS,PI*5/4,0);
}

Example #15

File: control.c Project: lh36/onboard-control-multi

unsigned int setCarUpperLeft(unsigned int speedMMPS,unsigned int radiusMM) 
{
	setCarStat(STAT_UPPERLEFT);
	return setCarArcBase(speedMMPS,radiusMM);
}

Example #16

File: control.c Project: lh36/onboard-control-multi

unsigned int setCarUpperRight(unsigned int speedMMPS,unsigned int radiusMM) 
{
	setCarStat(STAT_UPPERRIGHT);
	return setCarArcBase(speedMMPS,radiusMM);
}

Example #17

File: Omni4WD.cpp Project: Tony-YI/home_page

int Omni4WD::setCarBackoff(int speedMMPS) {
	setCarStat(STAT_BACKOFF);
	return setCarMove(speedMMPS,PI*3/2,0);
}