EpuckLEDs Class Reference

This class controls the turn on and turn off of e-puck LEDs. More...

#include <epuckLEDs.hpp>

Inheritance diagram for EpuckLEDs:

Collaboration diagram for EpuckLEDs:

Detailed Description

This class controls the turn on and turn off of e-puck LEDs.

Author

Renato Florentino Garcia

Date

December 2008

Classes
struct	LEDstate
	Struct with the state of e-puck LEDs. More...

Public Member Functions
	EpuckLEDs (const SerialPort *const serialPort)
	EpuckLEDs class constructor. More...
void	SetRingLED (bool ringLED[RING_LEDS_NUM])
	Set the e-puck ring LEDs. More...
void	SetRingLED (unsigned id, bool state)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
void	SetFrontLED (bool state)
	Set the e-puck front LED. More...
void	SetBodyLED (bool state)
	Set the e-puck body LED. More...
void	ClearInternal ()
	Turn off the internal representation of all e-puck LEDs. More...

Static Public Attributes
static const unsigned	RING_LEDS_NUM = 8
	The quantity of LEDs in e-puck ring LEDs.

Private Member Functions
void	SendLEDState () const

Private Attributes
LEDstate	ledState

Additional Inherited Members
Protected Types inherited from EpuckInterface
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 inherited from EpuckInterface
	EpuckInterface (const SerialPort *const serialPort)
	The EpuckInterface class constructor. More...
void	SendRequest (Request request) const
Protected Attributes inherited from EpuckInterface
const SerialPort *const	serialPort
	A SerialPort class instance shared among the device interfaces. More...
Static Protected Attributes inherited from EpuckInterface
static const float	EPUCK_DIAMETER = 0.07
	Diameter of e-puck body [m].

Constructor & Destructor Documentation

EpuckLEDs()

EpuckLEDs::EpuckLEDs

(

const SerialPort *const

serialPort

)

EpuckLEDs class constructor.

Parameters

serialPort

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

References EpuckLEDs::LEDstate::body, EpuckLEDs::LEDstate::front, SerialPort::recvChar(), EpuckLEDs::LEDstate::ring, RING_LEDS_NUM, SerialPort::sendChar(), EpuckInterface::serialPort, EpuckInterface::SET_LED_POWER, and SetRingLED().

Here is the call graph for this function:

Member Function Documentation

ClearInternal()

void EpuckLEDs::ClearInternal

(

)

Turn off the internal representation of all e-puck LEDs.

This function turn off only the internal representation of the LEDs, in e-puck their state won't change. This is useful in unsubscribe operation, at end of program the LEDs won't chage. But in a new client program execution, only the desired LEDs will tuned on.

References EpuckLEDs::LEDstate::body, EpuckLEDs::LEDstate::front, EpuckLEDs::LEDstate::ring, and RING_LEDS_NUM.

SetBodyLED()

void EpuckLEDs::SetBodyLED

(

bool

state

)

Set the e-puck body LED.

Parameters

state

True for on, false for off.

References EpuckLEDs::LEDstate::body.

SetFrontLED()

void EpuckLEDs::SetFrontLED

(

bool

state

)

Set the e-puck front LED.

Parameters

state

True for on, false for off.

References EpuckLEDs::LEDstate::front.

SetRingLED() [1/2]

void EpuckLEDs::SetRingLED

(

bool

ringLED[RING_LEDS_NUM]

)

Set the e-puck ring LEDs.

The state of all ring LEDs is given in ringLED parameter.

Parameters

ringLED

The state of each ring LED, where true is LED on.

Referenced by EpuckLEDs().

SetRingLED() [2/2]

void EpuckLEDs::SetRingLED	(	unsigned	id,
		bool	state
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

The state of only one LED will be set, the others won't change.

Parameters

id	The index of the ring LED.
state	The desired state. True for on, false for off.

References EpuckLEDs::LEDstate::ring, and RING_LEDS_NUM.

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

• epuckLEDs.hpp
• epuckLEDs.cpp