Robot Class Reference

Class containing all the components of the robot. More...

#include <robot.h>

Classes
struct	task_config_t
struct	data_struct

Public Types
enum class	robot_mode_t : uint8_t { NONE = 0 , APP = 1 , GAMEPAD = 2 }
enum class	status_led_mode_t : uint8_t { OFF = 0 , ON = 1 , BLINK_SLOW = 2 , BLINK_FAST = 3 }
enum class	rgb_leds_mode_t : uint8_t { OFF = 0 , HEADLIGHTS = 1 , RANDOM_COLORS = 2 , POLICE = 3 }

Public Member Functions
	Robot (const Robot &)=delete
Robot &	operator= (const Robot &)=delete
void	create_task (const task_config_t &config)
	Creates a FreeRTOS task.
void	enter_permanent_sleep ()
	Shuts down all HALs, pulls down a few pins and puts the ESP32 into deep sleep mode.
void	set_status_led (bool state) const
	Sets the status LED.
void	set_bottom_led (bool state) const
	Sets the bottom LED state.

Static Public Member Functions
static Robot &	get_instance ()
	Gets the robot instance.

Public Attributes
HAL::GPIO::Controller &	gpio
HAL::LEDC::Controller &	ledc
HAL::ADC::Controller &	adc
HAL::I2C::Controller &	i2c
Device::Battery	battery
Device::Leds	leds
Device::Display	display
Device::Buttons	buttons
Device::Buzzer	buzzer
Device::Motors	motors
Device::Bumpers	bumpers
Device::Encoders	encoders
Device::Ultrasonic	ultrasonic
Device::Imu	imu
Device::Colorsensor	colorsensor
Device::Linefollower	linefollower
protected_struct< data_struct >	data {}

Static Public Attributes
static constexpr gpio_num_t	STATUS_LED_PIN = GPIO_NUM_5
static constexpr gpio_num_t	BOTTOM_LED_PIN = GPIO_NUM_13

Detailed Description

Class containing all the components of the robot.

Member Enumeration Documentation

rgb_leds_mode_t

enum class Robot::rgb_leds_mode_t : uint8_t

strong

Enumerator
OFF
HEADLIGHTS
RANDOM_COLORS
POLICE

robot_mode_t

enum class Robot::robot_mode_t : uint8_t

strong

Enumerator
NONE
APP
GAMEPAD

status_led_mode_t

enum class Robot::status_led_mode_t : uint8_t

strong

Enumerator
OFF
ON
BLINK_SLOW
BLINK_FAST

Constructor & Destructor Documentation

Robot()

Robot::Robot ( const Robot & )

delete

Member Function Documentation

create_task()

void Robot::create_task

(

const task_config_t &

config

)

Creates a FreeRTOS task.

Parameters

config

The configuration of the task to create

enter_permanent_sleep()

void Robot::enter_permanent_sleep

(

)

Shuts down all HALs, pulls down a few pins and puts the ESP32 into deep sleep mode.

get_instance()

Robot & Robot::get_instance ( )

inlinestatic

Gets the robot instance.

Note

The instance will be created on the first call of this function

Returns

Reference to the robot object

operator=()

Robot & Robot::operator= ( const Robot & )

delete

set_bottom_led()

void Robot::set_bottom_led

(

bool

state

)

const

Sets the bottom LED state.

Parameters

state

Whether the LED should be turned on (true) or off (false)

set_status_led()

void Robot::set_status_led

(

bool

state

)

const

Sets the status LED.

Parameters

state

Whether the LED should be turned on (true) or off (false)

Member Data Documentation

adc

HAL::ADC::Controller& Robot::adc

battery

Device::Battery Robot::battery

BOTTOM_LED_PIN

gpio_num_t Robot::BOTTOM_LED_PIN = GPIO_NUM_13

staticconstexpr

bumpers

Device::Bumpers Robot::bumpers

buttons

Device::Buttons Robot::buttons

buzzer

Device::Buzzer Robot::buzzer

colorsensor

Device::Colorsensor Robot::colorsensor

data

protected_struct<data_struct> Robot::data {}

display

Device::Display Robot::display

encoders

Device::Encoders Robot::encoders

gpio

HAL::GPIO::Controller& Robot::gpio

i2c

HAL::I2C::Controller& Robot::i2c

imu

Device::Imu Robot::imu

ledc

HAL::LEDC::Controller& Robot::ledc

leds

Device::Leds Robot::leds

linefollower

Device::Linefollower Robot::linefollower

motors

Device::Motors Robot::motors

STATUS_LED_PIN

gpio_num_t Robot::STATUS_LED_PIN = GPIO_NUM_5

staticconstexpr

ultrasonic

Device::Ultrasonic Robot::ultrasonic

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

• include/robot.h
• src/robot.cpp