Jason Driver for XRCU. More...

#include <Jason.h>

Inheritance diagram for Jason:

Public Member Functions
	Jason ()
	Creates a robot object.

	~Jason ()
	Destroys a robot object.

void	load_saved_info ()

void	store_saved_info ()

void	set_motor_port (const uint8_t mtr_idx, const uint8_t port)

uint8_t	get_motor_port (const uint8_t mtr_idx)

void	set_compoi_port (const uint8_t idx, const uint8_t port)

uint8_t	get_compoi_port (const uint8_t idx)

void	set_compoi_addr (const uint8_t idx, const uint8_t addr)

uint8_t	get_compoi_addr (const uint8_t idx)

void	set_uts_mode (const uint8_t side, const uint8_t mode)

uint8_t	get_uts_mode (const uint8_t side)

void	set_uts_port (const uint8_t side, const uint8_t port)

uint8_t	get_uts_port (const uint8_t side)

void	set_heading_port (const uint8_t port)

uint8_t	get_heading_port ()

void	set_heading_addr (const uint8_t addr)

uint8_t	get_heading_addr ()

void	set_cam_port (const uint8_t port)

uint8_t	get_cam_port ()

void	set_cam_baud (const uint32_t baud)

uint32_t	get_cam_baud ()

void	set_kicker_pin (const uint32_t pin)

uint32_t	get_kicker_pin ()

void	set_dribbler_pin (const uint32_t pin)

uint32_t	get_dribbler_pin ()

void	set_comm_port (const uint8_t port)

uint8_t	get_comm_port ()

void	set_comm_baud (const uint32_t baud)

uint32_t	get_comm_baud ()

void	begin ()
	Activates the robot and configure the peripherals.

void	end ()
	Deactivates the robot and releases all occupied resources.

void	set_motor_spd (const uint8_t mtr_idx, int16_t spd)
	Sets the speed of a motor.

void	polar_ctrl (int16_t angle, int16_t spd, int16_t rotation)
	Sets the polar speed of the robot.

void	rect_ctrl (int16_t spd_x, int16_t spd_y, int16_t rotation)
	Sets the rectangular (cartesian) speed of the robot.

bool	move_to (const uint8_t side1, const int16_t dist1, const uint8_t side2, const int16_t dist2, const int16_t target_heading=0, const double rotation_kp=1.2, const int16_t spd=100, const int16_t threshold=1)
	Moves the robot to a specific position.

virtual void	gs ()
	Do something about the grayscales.

int16_t	get_ir_max_val ()
	Gets the maximum value read by all IR channels.

int16_t	get_ir_avg_val ()
	Gets the average value read by all IR channels.

int8_t	get_ir_max_idx ()
	Gets the channel number of the maximum valued IR channel.

int16_t	get_ir_ball_angle ()
	Gets the IR ball angle (in degrees).

int16_t	get_uts_dist (const uint8_t side)
	Gets the ultrasonic sensor distance of one side.

void	disable_uts (const uint8_t side)
	Disables an ultrasonic sensor of one side.

void	enable_uts (const uint8_t side)
	Enables an ultrasonic sensor of one side.

int16_t	get_heading ()
	Gets the heading of the robot.

void	reset_heading ()
	Resets the heading of the robot.

int16_t	get_rotation_spd (const int16_t target_heading=0)
	Gets the rotation speed of the robot.

virtual int16_t	get_orange_ball_dist ()
	Gets the distance to the orange ball.

virtual int16_t	get_orange_ball_angle ()
	Gets the angle to the orange ball (in degrees).

virtual int16_t	get_opponent_goal_dist ()
	Gets the distance to the opponent's goal.

virtual int16_t	get_opponent_goal_angle ()
	Gets the angle to the opponent's goal (in degrees).

virtual int16_t	get_my_goal_dist ()
	Gets the distance to my goal.

virtual int16_t	get_my_goal_angle ()
	Gets the angle to my goal (in degrees).

virtual void	set_kicker_state (const bool state)
	Sets whether the kicker is "kicked" (extended) or retracted.

virtual bool	get_kicker_state ()
	Gets whether the kicker is "kicked" (extended) or retracted.

virtual void	set_dribbler_spd (const int16_t spd)
	Sets the spinning speed of the dribbler.

void	clear_mon ()
	Clears everything on the monitor.

void	set_cursor (int16_t x, int16_t y)
	Sets the cursor to print text on the monitor.

size_t	print (const __FlashStringHelper *)

size_t	print (const String &)

size_t	print (const char[])

size_t	print (char)

size_t	print (unsigned char, int=DEC)

size_t	print (int, int=DEC)

size_t	print (unsigned int, int=DEC)

size_t	print (long, int=DEC)

size_t	print (unsigned long, int=DEC)

size_t	print (double, int=2)

size_t	print (const Printable &)

size_t	write (uint8_t)

Public Member Functions inherited from Print
int	getWriteError ()

void	clearWriteError ()

size_t	write (const char *str)

virtual size_t	write (const uint8_t *buffer, size_t size)

size_t	write (const char *buffer, size_t size)

virtual int	availableForWrite ()

size_t	print (const __FlashStringHelper *)

size_t	print (const String &)

size_t	print (const char[])

size_t	print (char)

size_t	print (unsigned char, int=DEC)

size_t	print (int, int=DEC)

size_t	print (unsigned int, int=DEC)

size_t	print (long, int=DEC)

size_t	print (unsigned long, int=DEC)

size_t	print (long long, int=DEC)

size_t	print (unsigned long long, int=DEC)

size_t	print (float, int=2)

size_t	print (double, int=2)

size_t	print (const Printable &)

size_t	println (const __FlashStringHelper *)

size_t	println (const String &s)

size_t	println (const char[])

size_t	println (char)

size_t	println (unsigned char, int=DEC)

size_t	println (int, int=DEC)

size_t	println (unsigned int, int=DEC)

size_t	println (long, int=DEC)

size_t	println (unsigned long, int=DEC)

size_t	println (long long, int=DEC)

size_t	println (unsigned long long, int=DEC)

size_t	println (float, int=2)

size_t	println (double, int=2)

size_t	println (const Printable &)

size_t	println (void)

int	printf (const char *format,...)

int	printf (const __FlashStringHelper *format,...)

int	vprintf (const __FlashStringHelper *format, va_list ap)

int	vprintf (const char *format, va_list ap)

virtual void	flush ()

Protected Attributes
uint8_t	eeprom_img [32]

Mtr *	mtrs [4]

CompoI *	compois [2]

uts_aio_ptr_t	utss [4]

heading_ptr_t	heading

uart_conn_ptr_t	cam

uint32_t	kicker_pin

uint32_t	dribbler_pin

uart_conn_ptr_t	comm

uint16_t	xc

uint16_t	yc

Static Protected Attributes
static const uint8_t	EEPROM_IMG_OFFSET = 0x50

Additional Inherited Members
Protected Member Functions inherited from Print
void	setWriteError (int err=1)

Detailed Description

Jason Driver for XRCU.

Author: YH Choi @ JM9

Copyright: Copyright (c) 2024 - 2025 YH Choi @ JM9. All right reserved.

Member Function Documentation

◆ disable_uts()

void Jason::disable_uts ( const uint8_t side )

Disables an ultrasonic sensor of one side.

Parameters

side	the side of ultrasonic sensor to be disabled [`front, back, left, right`]

See also: side_t

◆ enable_uts()

void Jason::enable_uts ( const uint8_t side )

Enables an ultrasonic sensor of one side.

Parameters

side	the side of ultrasonic sensor to be enabled [`front, back, left, right`]

See also: side_t

◆ get_heading()

int16_t Jason::get_heading ( )

Gets the heading of the robot.

Returns: the heading of the robot [0 : 359]

◆ get_ir_avg_val()

int16_t Jason::get_ir_avg_val ( )

Gets the average value read by all IR channels.

Returns: the average value read by all IR channels [0 : 255]

See also: get_ir_max_val(); get_ir_max_idx(); get_ir_ball_angle()

◆ get_ir_ball_angle()

int16_t Jason::get_ir_ball_angle ( )

Gets the IR ball angle (in degrees).

Returns: the IR ball angle [0 : 359] (in degrees)

See also: get_ir_max_val(); get_ir_avg_val(); get_ir_max_idx()

◆ get_ir_max_idx()

int8_t Jason::get_ir_max_idx ( )

Gets the channel number of the maximum valued IR channel.

...................... ..........01.......... .....12........02..... ..11..............03.. .10.......().......04. ..09..............05.. .....08........06..... ..........07.......... ......................

Returns: the channel number of the maximum valued IR channel [1 : 12]

See also: get_ir_max_val(); get_ir_avg_val(); get_ir_ball_angle()

◆ get_ir_max_val()

int16_t Jason::get_ir_max_val ( )

Gets the maximum value read by all IR channels.

Returns: the maximum value read by all IR channels [0 : 255]

See also: get_ir_avg_val(); get_ir_max_idx(); get_ir_ball_angle()

◆ get_kicker_state()

bool Jason::get_kicker_state ( )

virtual

Gets whether the kicker is "kicked" (extended) or retracted.

Warning: This method is not implemented.

Returns: true if the kicker is extended, false if the kicker is retracted

◆ get_my_goal_angle()

int16_t Jason::get_my_goal_angle ( )

virtual

Gets the angle to my goal (in degrees).

Warning: This method is not implemented.

Returns: the angle to my goal (in degrees)

◆ get_my_goal_dist()

int16_t Jason::get_my_goal_dist ( )

virtual

Gets the distance to my goal.

Warning: This method is not implemented.

Returns: the distance to my goal

◆ get_opponent_goal_angle()

int16_t Jason::get_opponent_goal_angle ( )

virtual

Gets the angle to the opponent's goal (in degrees).

Warning: This method is not implemented.

Returns: the angle to the opponent's goal (in degrees)

◆ get_opponent_goal_dist()

int16_t Jason::get_opponent_goal_dist ( )

virtual

Gets the distance to the opponent's goal.

Warning: This method is not implemented.

Returns: the distance to the opponent's goal

◆ get_orange_ball_angle()

int16_t Jason::get_orange_ball_angle ( )

virtual

Gets the angle to the orange ball (in degrees).

Warning: This method is not implemented.

Returns: the angle to the orange ball (in degrees)

◆ get_orange_ball_dist()

int16_t Jason::get_orange_ball_dist ( )

virtual

Gets the distance to the orange ball.

Warning: This method is not implemented.

Returns: the distance to the orange ball

◆ get_rotation_spd()

int16_t Jason::get_rotation_spd ( const int16_t target_heading = 0 )

Gets the rotation speed of the robot.

Gets the rotation speed of the robot based on the difference between targeted heading and actual heading of the robot.

Parameters

target_heading=0 the targeted heading of the robot (-inf : +inf) (in degrees)

Returns: the rotation speed of the robot (based on the difference between targeted heading and actual heading of the robot) [-180 : +180]

◆ get_uts_dist()

int16_t Jason::get_uts_dist ( const uint8_t side )

Gets the ultrasonic sensor distance of one side.

Parameters

side	the side of ultrasonic sensor to be read [`front, back, left, right`]

Returns: the distance read by the ultrasonic sensor at that side [0 : 400] (in centimeters)

See also: side_t

◆ gs()

void Jason::gs ( )

virtual

Do something about the grayscales.

I did not implement anything at this stage, since I don't know you would use circular or cross grayscales.

◆ move_to()

bool Jason::move_to	(	const uint8_t	side1,
		const int16_t	dist1,
		const uint8_t	side2,
		const int16_t	dist2,
		const int16_t	target_heading = 0,
		const double	rotation_kp = 1.2,
		const int16_t	spd = 100,
		const int16_t	threshold = 1 )

Moves the robot to a specific position.

This is achieved by continuously measuring the distances of 2 perpendicular sides.

Parameters

side1	1 of the side [`front, back, left, right`]
dist1	the targeted distance from side1 [0 : +inf)
side2	1 of the side [`front, back, left, right`]
dist2	the targeted distance from side2 [0 : +inf)
target_heading=0	the targeted heading of robot while moving (-inf : +inf) (in degrees)
rotation_kp=1.2	the constant to be multiplied from heading difference to give the angular rotation speed for heading correction [0 : +inf)
spd=100	the net speed the robot moves [0 : +255]
threshold=1	the tolerance to stop the robot (robot is stopped on an axis when get_uts_dist(sideN) == distN ± threshold) [0 : +inf)

See also: polar_ctrl(int16_t,int16_t,int16_t); rect_ctrl(int16_t,int16_t,int16_t); get_uts_dist(uint8_t); get_rotation_spd(int16_t); side_t

Returns: true if the robot arrived the specified position, false otherwise

◆ polar_ctrl()

void Jason::polar_ctrl	(	int16_t	angle,
		int16_t	spd,
		int16_t	rotation )

Sets the polar speed of the robot.

Parameters

angle	the direction the robot moves (-inf : +inf) (in degrees)
spd	the net speed the robot moves [-255 : +255]
rotation	the angular rotation speed the robot moves

See also: set_motor_spd(uint8_t,int16_t); rect_ctrl(int16_t,int16_t,int16_t); move_to(uint8_t,int16_t,uint8_t,int16_t,int16_t,double,int16_t,int16_t)

◆ rect_ctrl()

void Jason::rect_ctrl	(	int16_t	spd_x,
		int16_t	spd_y,
		int16_t	rotation )

Sets the rectangular (cartesian) speed of the robot.

Parameters

spd_x	the horizontal speed the robot moves ((-) left \| right (+)) [-255 : +255]
spd_y	the vertical speed the robot moves ((-) back \| front (+)) [255 : +255]
rotation	the angular rotation speed the robot moves

See also: set_motor_spd(uint8_t,int16_t); polar_ctrl(int16_t,int16_t,int16_t); move_to(uint8_t,int16_t,uint8_t,int16_t,int16_t,double,int16_t,int16_t)

◆ reset_heading()

void Jason::reset_heading ( )

Resets the heading of the robot.

After calling this function, the current heading of the robot is set to 0.

◆ set_cursor()

void Jason::set_cursor	(	int16_t	x,
		int16_t	y )

Sets the cursor to print text on the monitor.

Parameters

x	the x-position of letter to be printed
y	the y-position of letter to be printed

◆ set_dribbler_spd()

void Jason::set_dribbler_spd ( const int16_t spd )

virtual

Sets the spinning speed of the dribbler.

Warning: This method is not implemented.

Parameters

spd	the speed of the dribbler.

◆ set_kicker_state()

void Jason::set_kicker_state ( const bool state )

virtual

Sets whether the kicker is "kicked" (extended) or retracted.

Warning: This method is not implemented.

Parameters

state true if the kicker is extended, false if the kicker is retracted

◆ set_motor_spd()

void Jason::set_motor_spd	(	const uint8_t	mtr_idx,
		int16_t	spd )

Sets the speed of a motor.

Parameters

mtr_idx	the index of the motor to be set [`LF, RF, LB, RB`]
spd	the new speed of the motor [-255 : +255]

See also: mtr_idx_t

◆ write()

size_t Jason::write ( uint8_t c )

virtual

Implements Print.

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

Jason/src/Jason.h
Jason/src/Jason.cpp

Public Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ disable_uts()

◆ enable_uts()

◆ get_heading()

◆ get_ir_avg_val()

◆ get_ir_ball_angle()

◆ get_ir_max_idx()

◆ get_ir_max_val()

◆ get_kicker_state()

◆ get_my_goal_angle()

◆ get_my_goal_dist()

◆ get_opponent_goal_angle()

◆ get_opponent_goal_dist()

◆ get_orange_ball_angle()

◆ get_orange_ball_dist()

◆ get_rotation_spd()

◆ get_uts_dist()

◆ gs()

◆ move_to()

◆ polar_ctrl()

◆ rect_ctrl()

◆ reset_heading()

◆ set_cursor()

◆ set_dribbler_spd()

◆ set_kicker_state()

◆ set_motor_spd()

◆ write()