EpuckInterface Class Reference

Base class for all concrete interfaces of e-puck. More...

#include <epuckInterface.hpp>

Inheritance diagram for EpuckInterface:

Collaboration diagram for EpuckInterface:

Detailed Description

Base class for all concrete interfaces of e-puck.

This class must be inherited by every class which implement a concrete e-puck interface. It's a abstract class only, and can't be instanced.

Author

Renato Florentino Garcia

Date

August 2008

Classes
struct	Triple
	Struct which represents a triple (x,y,theta). More...

Protected Types
enum	Request {   CONFIG_CAMERA = 0x02, SET_VEL = 0x13, GET_STEPS = 0x14, STOP_MOTORS = 0x15,   GET_IR_PROX = 0x16, GET_CAMERA_IMG = 0x17, SET_LED_POWER = 0x18 }
	Request codes acceptable by e-puck. More...

Protected Member Functions
	EpuckInterface (const SerialPort *const serialPort)
	The EpuckInterface class constructor. More...
void	SendRequest (Request request) const

Protected Attributes
const SerialPort *const	serialPort
	A SerialPort class instance shared among the device interfaces. More...

Static Protected Attributes
static const float	EPUCK_DIAMETER = 0.07
	Diameter of e-puck body [m].

Member Enumeration Documentation

Request

enum EpuckInterface::Request

protected

Request codes acceptable by e-puck.

Enumerator
CONFIG_CAMERA	Send configurations for camera initialization.
SET_VEL	Send motors steps per second velocity.
GET_STEPS	Receive the steps made and reset the stepp counter.
STOP_MOTORS	Stop the motors.
GET_IR_PROX	Receive the IR sensors readings.
GET_CAMERA_IMG	Receive an image from camera.
SET_LED_POWER	Send the state of all LEDs.

Constructor & Destructor Documentation

EpuckInterface()

EpuckInterface::EpuckInterface ( const SerialPort *const  serialPort )

protected

The EpuckInterface class constructor.

Parameters

serialPort

Pointer for a SerialPort class already created and connected with an e-puck.

References SerialPort::sendChar(), and serialPort.

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Member Data Documentation

serialPort

const SerialPort* const EpuckInterface::serialPort

protected

A SerialPort class instance shared among the device interfaces.

This pointer points to the only instance of SerialPort Class. Each interface will be this pointer pointed to the same instance.

Referenced by EpuckInterface(), EpuckLEDs::EpuckLEDs(), EpuckCamera::GetImage(), EpuckIR::GetIRData(), EpuckCamera::Initialize(), EpuckPosition2d::SetOdometry(), EpuckPosition2d::SetVel(), EpuckPosition2d::StopMotors(), and EpuckPosition2d::UpdateOdometry().

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

• epuckInterface.hpp
• epuckInterface.cpp