#include <Matbotics.h>

Public Member Functions
	MTController ()

String	manufacturer ()

String	type ()

String	version ()

float	batteryLevel ()

MTBS_STATUS_VALUES	status ()

void	timeout (int time)

void	enableServos ()

void	disableServos ()

void	servoOneSpeed (int servo_speed)

void	servoOneAngle (int angle)

void	servoTwoSpeed (int servo_speed)

void	servoTwoAngle (int angle)

void	servoThreeSpeed (int servo_speed)

void	servoThreeAngle (int angle)

void	servoFourSpeed (int servo_speed)

void	servoFourAngle (int angle)

void	motorOneSpeed (int motor_speed)

long	motorOnePosition ()

void	motorOneReach (long target)

void	motorOneMode (MTBS_MOTOR_MODES mode)

void	motorTwoSpeed (int motor_speed)

long	motorTwoPosition ()

void	motorTwoReach (long target)

void	motorTwoMode (MTBS_MOTOR_MODES mode)

void	motorThreeSpeed (int motor_speed)

long	motorThreePosition ()

void	motorThreeReach (long target)

void	motorThreeMode (MTBS_MOTOR_MODES mode)

void	motorFourSpeed (int motor_speed)

long	motorFourPosition ()

void	motorFourReach (long target)

void	motorFourMode (MTBS_MOTOR_MODES mode)

Detailed Description

MTController object to encapsulate Matrix Robotic System controller control

Definition at line 140 of file Matbotics.h.

Constructor & Destructor Documentation

MTController::MTController ( )

Create MTController object

Definition at line 43 of file Matbotics.cpp.

Member Function Documentation

float MTController::batteryLevel ( )

Get battery level

Returns: The Battery level returns the current battery voltage in volts.

Definition at line 75 of file Matbotics.cpp.

void MTController::disableServos ( )

disable servos

Definition at line 100 of file Matbotics.cpp.

void MTController::enableServos ( )

enable servo motors

Definition at line 93 of file Matbotics.cpp.

String MTController::manufacturer ( )

Get the controller version manufacturer

Returns: Controller version manufacturer

Definition at line 60 of file Matbotics.cpp.

void MTController::motorFourMode ( MTBS_MOTOR_MODES mode )

Set the motor four mode

Parameters

mode	the mode for the motor four

Definition at line 231 of file Matbotics.cpp.

long MTController::motorFourPosition ( )

get the position of the motor four

Returns: Value of the current motor encoder

Definition at line 219 of file Matbotics.cpp.

void MTController::motorFourReach ( long target )

Set the position of the motor four encoder, if the motor is in slew mode.

Parameters

target Position to reach

Definition at line 226 of file Matbotics.cpp.

void MTController::motorFourSpeed ( int motor_speed )

Set the speed of the motor four, zero (0) causes the motor to stop.

Parameters

motor_speed The speed of the motor ( from -100 to 100 )

Definition at line 214 of file Matbotics.cpp.

void MTController::motorOneMode ( MTBS_MOTOR_MODES mode )

Set the motor one mode

Parameters

mode	the mode for the motor one

Definition at line 165 of file Matbotics.cpp.

long MTController::motorOnePosition ( )

get the position of the motor one

Returns: Value of the current motor encoder value

Definition at line 153 of file Matbotics.cpp.

void MTController::motorOneReach ( long target )

Set the position of the motor one encoder, if the motor is in slew mode.

Parameters

target Position to reach

Definition at line 160 of file Matbotics.cpp.

void MTController::motorOneSpeed ( int motor_speed )

Set the speed of the motor one, zero (0) causes the motor to stop.

Parameters

motor_speed The speed of the motor ( from -100 to 100 )

Definition at line 148 of file Matbotics.cpp.

void MTController::motorThreeMode ( MTBS_MOTOR_MODES mode )

Set the motor three mode

Parameters

mode	the mode for the motor three

Definition at line 209 of file Matbotics.cpp.

long MTController::motorThreePosition ( )

get the position of the motor three

Returns: Value of the current motor encoder value

Definition at line 197 of file Matbotics.cpp.

void MTController::motorThreeReach ( long target )

Set the position of the motor three encoder, if the motor is in slew mode.

Parameters

target Position to reach

Definition at line 204 of file Matbotics.cpp.

void MTController::motorThreeSpeed ( int motor_speed )

Set the speed of the motor three, zero (0) causes the motor to stop.

Parameters

motor_speed The speed of the motor ( from -100 to 100 )

Definition at line 192 of file Matbotics.cpp.

void MTController::motorTwoMode ( MTBS_MOTOR_MODES mode )

Set the motor two mode

Parameters

mode	the mode for the motor two

Definition at line 187 of file Matbotics.cpp.

long MTController::motorTwoPosition ( )

get the position of the motor two

Returns: Value of the current motor encoder value

Definition at line 175 of file Matbotics.cpp.

void MTController::motorTwoReach ( long target )

Set the position of the motor two encoder, if the motor is in slew mode.

Parameters

target Position to reach

Definition at line 182 of file Matbotics.cpp.

void MTController::motorTwoSpeed ( int motor_speed )

Set the speed of the motor two, zero (0) causes the motor to stop.

Parameters

motor_speed The speed of the motor ( from -100 to 100 )

Definition at line 170 of file Matbotics.cpp.

void MTController::servoFourAngle ( int angle )

Set the angle of the servo four

Parameters

angle angle to reach

Definition at line 142 of file Matbotics.cpp.

void MTController::servoFourSpeed ( int servo_speed )

Set speed of the servo four

Parameters

servo_speed the speed to set

Definition at line 137 of file Matbotics.cpp.

void MTController::servoOneAngle ( int angle )

Set the angle of the servo one

Parameters

angle angle to reach

Definition at line 112 of file Matbotics.cpp.

void MTController::servoOneSpeed ( int servo_speed )

Set speed of the servo one

Parameters

servo_speed the speed to set

Definition at line 107 of file Matbotics.cpp.

void MTController::servoThreeAngle ( int angle )

Set the angle of the servo three

Parameters

angle angle to reach

Definition at line 132 of file Matbotics.cpp.

void MTController::servoThreeSpeed ( int servo_speed )

Set speed of the servo three

Parameters

servo_speed the speed to set

Definition at line 127 of file Matbotics.cpp.

void MTController::servoTwoAngle ( int angle )

Set the angle of the servo two

Parameters

angle angle to reach

Definition at line 122 of file Matbotics.cpp.

void MTController::servoTwoSpeed ( int servo_speed )

Set speed of the servo two

Parameters

servo_speed the speed to set

Definition at line 117 of file Matbotics.cpp.

MTBS_STATUS_VALUES MTController::status ( )

Return the status of the box

Returns: the status of the controller

Definition at line 82 of file Matbotics.cpp.

void MTController::timeout ( int time )

Shut down motors and servos automaticcally within if no I2C transactions are received within the specified time, in the seconds

Parameters

time	Amount of time to shut down automatically motors and servos in seconds. Zero (0) means no timeout.

Definition at line 88 of file Matbotics.cpp.

String MTController::type ( )

Get the controller version type

Returns: Controller version type

Definition at line 65 of file Matbotics.cpp.

String MTController::version ( )

Get the controller version number

Returns: Controller version number

Definition at line 70 of file Matbotics.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation