rb::Manager Class Reference

The main library class for working with the RBControl board. Call the install() method at the start of your program. More...

#include <RBControl_manager.hpp>

Public Member Functions
	Manager (Manager const &)=delete
void	operator= (Manager const &)=delete

Static Public Member Functions
static Manager &	get ()
	Get manager instance. More...

Friends
class	MotorChangeBuilder
class	Encoder
class	PcntInterruptHandler
void	install (ManagerInstallFlags flags=MAN_NONE)
	Initialize the manager - must be called once at the start of the program. More...
SmartServoBus &	initSmartServoBus (uint8_t servo_count, gpio_num_t pin=GPIO_NUM_32, uart_port_t uart=UART_NUM_1)
	Initialize the UART servo bus for intelligent servos LX-16. More...
SmartServoBus &	servoBus ()
	Get the SmartServoBus for working with intelligent servos LX-16.. More...
Adafruit_MCP23017 &	expander ()
	Get the expander Adafruit_MCP23017. LEDs and buttons are connected to it. More...
Piezo &	piezo ()
	Get the Piezo controller. More...
Battery &	battery ()
	Get the Battery interface. More...
Leds &	leds ()
	Get the Leds helper. More...
Motor &	motor (MotorId id)
MotorChangeBuilder	setMotors ()
	Get a motor instance. More...
Nvs &	config ()
void	schedule (uint32_t period_ms, std::function< bool()> callback)
	Schedule callback to fire after period (in millisecond). More...
Timers &	timers ()
void	monitorTask (TaskHandle_t task)

Detailed Description

The main library class for working with the RBControl board. Call the install() method at the start of your program.

Constructor & Destructor Documentation

Manager()

rb::Manager::Manager ( Manager const &  )

delete

Member Function Documentation

battery()

Battery& rb::Manager::battery ( )

inline

Get the Battery interface.

config()

Nvs& rb::Manager::config ( )

inline

expander()

Adafruit_MCP23017& rb::Manager::expander ( )

inline

Get the expander Adafruit_MCP23017. LEDs and buttons are connected to it.

get()

static Manager& rb::Manager::get ( )

inlinestatic

Get manager instance.

Always returns the same instance and is thread-safe. Don't forget to call install() to initialize the manager at the start of your program, when you first get the instance.

initSmartServoBus()

rb::SmartServoBus & rb::Manager::initSmartServoBus	(	uint8_t	servo_count,
		gpio_num_t	pin = GPIO_NUM_32,
		uart_port_t	uart = UART_NUM_1
	)

Initialize the UART servo bus for intelligent servos LX-16.

Returns

Instance of the class SmartServoBus which manage the intelligent servos.

install()

void rb::Manager::install

(

ManagerInstallFlags

flags = MAN_NONE

)

Initialize the manager - must be called once at the start of the program.

Parameters

flags

modify the manager's behavior or toggle some features. SeeManagerInstallFlags} enum.

leds()

Leds& rb::Manager::leds ( )

inline

Get the Leds helper.

monitorTask()

void rb::Manager::monitorTask

(

TaskHandle_t

task

)

motor()

Motor& rb::Manager::motor ( MotorId  id )

inline

operator=()

void rb::Manager::operator= ( Manager const &  )

delete

piezo()

Piezo& rb::Manager::piezo ( )

inline

Get the Piezo controller.

schedule()

void rb::Manager::schedule ( uint32_t  period_ms, std::function< bool()>  callback  )

inline

Schedule callback to fire after period (in millisecond).

Return true from the callback to schedule periodically, false to not (singleshot timer).

Parameters

period_ms	is period in which will be the schedule callback fired
callback	is a function which will be schedule with the set period.

servoBus()

SmartServoBus& rb::Manager::servoBus ( )

inline

Get the SmartServoBus for working with intelligent servos LX-16..

Returns

Instance of the class SmartServoBus which manage the intelligent servos.

setMotors()

MotorChangeBuilder rb::Manager::setMotors

(

)

Get a motor instance.

Create motor power change builder: MotorChangeBuilder.

timers()

Timers& rb::Manager::timers ( )

inline

Friends And Related Function Documentation

Encoder

friend class Encoder

friend

MotorChangeBuilder

friend class MotorChangeBuilder

friend

PcntInterruptHandler

friend class PcntInterruptHandler

friend

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

• RBControl_manager.hpp
• RBControl_manager.cpp