rb Namespace Reference

The base namespace. Contains some logging functions, too. More...

Namespaces
	half_duplex

Classes
class	Angle
class	Arm
class	Bone
class	BoneBuilder
class	ArmBuilder
class	Battery
	Contains the battery state and can control the robot's power. More...
class	Encoder
class	Leds
	Helper class for controlling the LEDs connected to the expander. More...
class	Manager
	The main library class for working with the RBControl board. Call the install() method at the start of your program. More...
class	MotorChangeBuilder
	Helper class for building the motor change event. More...
class	Motor
class	Nvs
class	Piezo
	Helper class for controlling the piezo. More...
class	SerialPWM
class	SmartServoBus
class	Timers

Enumerations
enum	ManagerInstallFlags { MAN_NONE = 0 , MAN_DISABLE_MOTOR_FAILSAFE = (1 << 0) , MAN_DISABLE_BATTERY_MANAGEMENT = (1 << 1) , MAN_DISABLE_PIEZO = (1 << 2) }
	This enum contains flags for the Manager's install() method. More...
enum class	MotorId : uint8_t {   M1 , M2 , M3 , M4 ,   M5 , M6 , M7 , M8 ,   MAX }

Functions
Angle	operator+ (Angle a, Angle b)
Angle	operator- (Angle a, Angle b)
Angle	operator* (Angle a, Angle::_T c)
Angle	operator/ (Angle a, Angle::_T c)
Angle	operator""_deg (long double d)
Angle	operator""_rad (long double r)
Angle	operator""_deg (unsigned long long int d)
Angle	operator""_rad (unsigned long long int r)
	__attribute__ ((constructor)) void loggerInit()
template<typename... Args>
FormatString	log (int verbosity, const std::string &tag, const std::string &message, Args... args)
template<typename... Args>
FormatString	logPanic (const std::string &tag, const std::string &message, Args... args)
template<typename... Args>
FormatString	logError (const std::string &tag, const std::string &message, Args... args)
template<typename... Args>
FormatString	logWarning (const std::string &tag, const std::string &message, Args... args)
template<typename... Args>
FormatString	logInfo (const std::string &tag, const std::string &message, Args... args)
template<typename... Args>
FormatString	logDebug (const std::string &tag, const std::string &message, Args... args)
ManagerInstallFlags	operator| (ManagerInstallFlags a, ManagerInstallFlags b)
static int	INV (int v)
MotorId	operator++ (MotorId &x)
static void	dieTimers (TimerHandle_t timer)
template<typename T , typename... Args>
T	clamp (T value, T min, T max, const char *tag="", const char *msg=NULL, Args... args)
void	delayMs (int ms)
void	delay (std::chrono::duration< uint32_t, std::milli > delay)

Variables
const int	DEFAULT_REF_VOLTAGE = 1100
const int	BATTERY_ADC_SAMPLES = 32
static const pcnt_unit_t	PCNT_UNITS [ENC_COUNT]
const gpio_num_t	ENCODER_PINS [ENC_COUNT *2]
Logger	logger
static const gpio_num_t	IO0 = GPIO_NUM_0
static const gpio_num_t	IO2 = GPIO_NUM_2
static const gpio_num_t	IO12 = GPIO_NUM_12
static const gpio_num_t	IO4 = GPIO_NUM_4
static const gpio_num_t	IO5 = GPIO_NUM_5
static const gpio_num_t	IO13 = GPIO_NUM_13
static const gpio_num_t	IO14 = GPIO_NUM_14
static const gpio_num_t	IO15 = GPIO_NUM_15
static const gpio_num_t	IO16 = GPIO_NUM_16
static const gpio_num_t	IO17 = GPIO_NUM_17
static const gpio_num_t	IO18 = GPIO_NUM_18
static const gpio_num_t	IO19 = GPIO_NUM_19
static const gpio_num_t	IO21 = GPIO_NUM_21
static const gpio_num_t	IO25 = GPIO_NUM_25
static const gpio_num_t	IO26 = GPIO_NUM_26
static const gpio_num_t	IO27 = GPIO_NUM_27
static const gpio_num_t	IO32 = GPIO_NUM_32
static const gpio_num_t	IO33 = GPIO_NUM_33
static const gpio_num_t	IO34 = GPIO_NUM_34
static const gpio_num_t	IO35 = GPIO_NUM_35
static const gpio_num_t	RCKMOT = IO0
static const gpio_num_t	SERMOT = IO2
static const gpio_num_t	SCKMOT = IO12
static const gpio_num_t	ENC1A = IO21
static const gpio_num_t	ENC1B = IO19
static const gpio_num_t	ENC2A = IO18
static const gpio_num_t	ENC2B = IO5
static const gpio_num_t	ENC3A = IO17
static const gpio_num_t	ENC3B = IO16
static const gpio_num_t	ENC4A = IO15
static const gpio_num_t	ENC4B = IO13
static const gpio_num_t	ENC5A = IO4
static const gpio_num_t	ENC5B = IO15
static const gpio_num_t	ENC6A = IO27
static const gpio_num_t	ENC6B = IO26
static const gpio_num_t	ENC7A = IO25
static const gpio_num_t	ENC7B = IO33
static const gpio_num_t	ENC8A = IO32
static const gpio_num_t	ENC8B = IO35
static const gpio_num_t	POWER_OFF = IO32
static const gpio_num_t	BATT_REF = IO34
static const adc_unit_t	BATT_ADC_UNIT = ADC_UNIT_1
static const adc1_channel_t	BATT_ADC_CHANNEL = ADC1_CHANNEL_6
static const gpio_num_t	PIEZO_A = ENC7A
static const gpio_num_t	PIEZO_B = ENC7B
static const gpio_num_t	I2C_MASTER_SDA = GPIO_NUM_23
static const gpio_num_t	I2C_MASTER_SCL = GPIO_NUM_22
static const int	I2C_ADDR_EXPANDER = 0x20 | 0x01
static const int	EA0 = 0
static const int	EA1 = 1
static const int	EA2 = 2
static const int	EA3 = 3
static const int	EA4 = 4
static const int	EA5 = 5
static const int	EA6 = 6
static const int	EA7 = 7
static const int	EB0 = 8
static const int	EB1 = 9
static const int	EB2 = 10
static const int	EB3 = 11
static const int	EB4 = 12
static const int	EB5 = 13
static const int	EB6 = 14
static const int	EB7 = 15
static const int	SW1 = EB0
static const int	SW2 = EB1
static const int	SW3 = EB2
static const int	LED_RED = EB3
static const int	LED_YELLOW = EB4
static const int	LED_GREEN = EB5
static const int	LED_BLUE = EB6
static const int	EXPANDER_BOARD_POWER_ON = EB7

Detailed Description

The base namespace. Contains some logging functions, too.

Enumeration Type Documentation

ManagerInstallFlags

enum rb::ManagerInstallFlags

This enum contains flags for the Manager's install() method.

Enumerator
MAN_NONE
MAN_DISABLE_MOTOR_FAILSAFE	after 300ms of no set motor power calls. Disables automatic motor failsafe, which stops the motors
MAN_DISABLE_BATTERY_MANAGEMENT	auto-shutdown on low battery voltage. Disables the battery voltage
MAN_DISABLE_PIEZO	Do not initialize piezo on pins IO25/IO33, keeps the pins free for other functions. Warning: disabling the piezo is not recommanded because it is used to signalize low battery voltage.

MotorId

enum rb::MotorId : uint8_t

strong

Enumerator
M1
M2
M3
M4
M5
M6
M7
M8
MAX

Function Documentation

__attribute__()

rb::__attribute__

(

(constructor)

)

clamp()

template<typename T , typename... Args>

T rb::clamp	(	T	value,
		T	min,
		T	max,
		const char *	tag = "",
		const char *	msg = NULL,
		Args...	args
	)

delay()

void rb::delay ( std::chrono::duration< uint32_t, std::milli >  delay )

inline

delayMs()

void rb::delayMs ( int  ms )

inline

dieTimers()

static void rb::dieTimers ( TimerHandle_t  timer )

static

INV()

static int rb::INV ( int  v )

static

log()

template<typename... Args>

FormatString rb::log	(	int	verbosity,
		const std::string &	tag,
		const std::string &	message,
		Args...	args
	)

logDebug()

template<typename... Args>

FormatString rb::logDebug	(	const std::string &	tag,
		const std::string &	message,
		Args...	args
	)

logError()

template<typename... Args>

FormatString rb::logError	(	const std::string &	tag,
		const std::string &	message,
		Args...	args
	)

logInfo()

template<typename... Args>

FormatString rb::logInfo	(	const std::string &	tag,
		const std::string &	message,
		Args...	args
	)

logPanic()

template<typename... Args>

FormatString rb::logPanic	(	const std::string &	tag,
		const std::string &	message,
		Args...	args
	)

logWarning()

template<typename... Args>

FormatString rb::logWarning	(	const std::string &	tag,
		const std::string &	message,
		Args...	args
	)

operator""_deg() [1/2]

Angle rb::operator""_deg

(

long double

d

)

operator""_deg() [2/2]

Angle rb::operator""_deg

(

unsigned long long int

d

)

operator""_rad() [1/2]

Angle rb::operator""_rad

(

long double

r

)

operator""_rad() [2/2]

Angle rb::operator""_rad

(

unsigned long long int

r

)

operator*()

Angle rb::operator*	(	Angle	a,
		Angle::_T	c
	)

operator+()

Angle rb::operator+	(	Angle	a,
		Angle	b
	)

operator++()

MotorId rb::operator++ ( MotorId &  x )

inline

operator-()

Angle rb::operator-	(	Angle	a,
		Angle	b
	)

operator/()

Angle rb::operator/	(	Angle	a,
		Angle::_T	c
	)

operator|()

ManagerInstallFlags rb::operator| ( ManagerInstallFlags  a, ManagerInstallFlags  b  )

inline

Variable Documentation

BATT_ADC_CHANNEL

const adc1_channel_t rb::BATT_ADC_CHANNEL = ADC1_CHANNEL_6

static

BATT_ADC_UNIT

const adc_unit_t rb::BATT_ADC_UNIT = ADC_UNIT_1

static

BATT_REF

const gpio_num_t rb::BATT_REF = IO34

static

BATTERY_ADC_SAMPLES

const int rb::BATTERY_ADC_SAMPLES = 32

DEFAULT_REF_VOLTAGE

const int rb::DEFAULT_REF_VOLTAGE = 1100

EA0

const int rb::EA0 = 0

static

EA1

const int rb::EA1 = 1

static

EA2

const int rb::EA2 = 2

static

EA3

const int rb::EA3 = 3

static

EA4

const int rb::EA4 = 4

static

EA5

const int rb::EA5 = 5

static

EA6

const int rb::EA6 = 6

static

EA7

const int rb::EA7 = 7

static

EB0

const int rb::EB0 = 8

static

EB1

const int rb::EB1 = 9

static

EB2

const int rb::EB2 = 10

static

EB3

const int rb::EB3 = 11

static

EB4

const int rb::EB4 = 12

static

EB5

const int rb::EB5 = 13

static

EB6

const int rb::EB6 = 14

static

EB7

const int rb::EB7 = 15

static

ENC1A

const gpio_num_t rb::ENC1A = IO21

static

ENC1B

const gpio_num_t rb::ENC1B = IO19

static

ENC2A

const gpio_num_t rb::ENC2A = IO18

static

ENC2B

const gpio_num_t rb::ENC2B = IO5

static

ENC3A

const gpio_num_t rb::ENC3A = IO17

static

ENC3B

const gpio_num_t rb::ENC3B = IO16

static

ENC4A

const gpio_num_t rb::ENC4A = IO15

static

ENC4B

const gpio_num_t rb::ENC4B = IO13

static

ENC5A

const gpio_num_t rb::ENC5A = IO4

static

ENC5B

const gpio_num_t rb::ENC5B = IO15

static

ENC6A

const gpio_num_t rb::ENC6A = IO27

static

ENC6B

const gpio_num_t rb::ENC6B = IO26

static

ENC7A

const gpio_num_t rb::ENC7A = IO25

static

ENC7B

const gpio_num_t rb::ENC7B = IO33

static

ENC8A

const gpio_num_t rb::ENC8A = IO32

static

ENC8B

const gpio_num_t rb::ENC8B = IO35

static

ENCODER_PINS

const gpio_num_t rb::ENCODER_PINS[ENC_COUNT *2]

Initial value:

= {
    ENC1A,
    ENC1B,
    ENC2A,
    ENC2B,
    ENC3A,
    ENC3B,
    ENC4A,
    ENC4B,
    ENC5A,
    ENC5B,
    ENC6A,
    ENC6B,
    ENC7A,
    ENC7B,
    ENC8A,
    ENC8B,
}

EXPANDER_BOARD_POWER_ON

const int rb::EXPANDER_BOARD_POWER_ON = EB7

static

I2C_ADDR_EXPANDER

const int rb::I2C_ADDR_EXPANDER = 0x20 | 0x01

static

I2C_MASTER_SCL

const gpio_num_t rb::I2C_MASTER_SCL = GPIO_NUM_22

static

I2C_MASTER_SDA

const gpio_num_t rb::I2C_MASTER_SDA = GPIO_NUM_23

static

IO0

const gpio_num_t rb::IO0 = GPIO_NUM_0

static

IO12

const gpio_num_t rb::IO12 = GPIO_NUM_12

static

IO13

const gpio_num_t rb::IO13 = GPIO_NUM_13

static

IO14

const gpio_num_t rb::IO14 = GPIO_NUM_14

static

IO15

const gpio_num_t rb::IO15 = GPIO_NUM_15

static

IO16

const gpio_num_t rb::IO16 = GPIO_NUM_16

static

IO17

const gpio_num_t rb::IO17 = GPIO_NUM_17

static

IO18

const gpio_num_t rb::IO18 = GPIO_NUM_18

static

IO19

const gpio_num_t rb::IO19 = GPIO_NUM_19

static

IO2

const gpio_num_t rb::IO2 = GPIO_NUM_2

static

IO21

const gpio_num_t rb::IO21 = GPIO_NUM_21

static

IO25

const gpio_num_t rb::IO25 = GPIO_NUM_25

static

IO26

const gpio_num_t rb::IO26 = GPIO_NUM_26

static

IO27

const gpio_num_t rb::IO27 = GPIO_NUM_27

static

IO32

const gpio_num_t rb::IO32 = GPIO_NUM_32

static

IO33

const gpio_num_t rb::IO33 = GPIO_NUM_33

static

IO34

const gpio_num_t rb::IO34 = GPIO_NUM_34

static

IO35

const gpio_num_t rb::IO35 = GPIO_NUM_35

static

IO4

const gpio_num_t rb::IO4 = GPIO_NUM_4

static

IO5

const gpio_num_t rb::IO5 = GPIO_NUM_5

static

LED_BLUE

const int rb::LED_BLUE = EB6

static

LED_GREEN

const int rb::LED_GREEN = EB5

static

LED_RED

const int rb::LED_RED = EB3

static

LED_YELLOW

const int rb::LED_YELLOW = EB4

static

logger

Logger rb::logger

PCNT_UNITS

const pcnt_unit_t rb::PCNT_UNITS[ENC_COUNT]

static

Initial value:

= {
    PCNT_UNIT_0,
    PCNT_UNIT_1,
    PCNT_UNIT_2,
    PCNT_UNIT_3,
    PCNT_UNIT_4,
    PCNT_UNIT_5,
    PCNT_UNIT_6,
    PCNT_UNIT_7
}

PIEZO_A

const gpio_num_t rb::PIEZO_A = ENC7A

static

PIEZO_B

const gpio_num_t rb::PIEZO_B = ENC7B

static

POWER_OFF

const gpio_num_t rb::POWER_OFF = IO32

static

RCKMOT

const gpio_num_t rb::RCKMOT = IO0

static

SCKMOT

const gpio_num_t rb::SCKMOT = IO12

static

SERMOT

const gpio_num_t rb::SERMOT = IO2

static

SW1

const int rb::SW1 = EB0

static

SW2

const int rb::SW2 = EB1

static

SW3

const int rb::SW3 = EB2

static