rb::Manager Class Reference

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

#include <RBCXManager.h>

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
class	Motor
void	install (ManagerInstallFlags flags=MAN_NONE, BaseType_t managerLoopStackSize=3072)
	Initialize the manager - must be called once at the start of the program. More...
Ultrasound &	ultrasound (uint8_t index)
	Initialize the UART servo bus for intelligent servos LX-16. TODO: smart servos not implemented! More...
StupidServo &	stupidServo (uint8_t index)
Oled &	oled ()
	Get the Piezo controller. More...
Mpu &	mpu ()
	Get the Piezo controller. More...
SmartServoBusBackend &	smartServoBusBackend ()
Piezo &	piezo ()
	Get the Piezo controller. More...
Battery &	battery ()
	Get the Battery interface. More...
Leds &	leds ()
	Get the Leds helper. More...
Buttons &	buttons ()
Motor &	motor (MotorId id)
MotorChangeBuilder	setMotors ()
	Get a motor instance. More...
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)
void	sendToCoproc (const CoprocReq &msg)
const CoprocStat_VersionStat &	coprocFwVersion () const
void	coprocFwVersionAssert (uint32_t minVersion, const char *name)

Detailed Description

The main library class for working with the RBCX 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.

buttons()

Buttons & rb::Manager::buttons ( )

inline

coprocFwVersion()

const CoprocStat_VersionStat & rb::Manager::coprocFwVersion ( ) const

inline

coprocFwVersionAssert()

void rb::Manager::coprocFwVersionAssert	(	uint32_t	minVersion,
		const char *	name
	)

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.

install()

void rb::Manager::install	(	ManagerInstallFlags	flags = MAN_NONE,
		BaseType_t	managerLoopStackSize = 3072
	)

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

mpu()

Mpu & rb::Manager::mpu ( )

inline

Get the Piezo controller.

oled()

Oled & rb::Manager::oled ( )

inline

Get the Piezo controller.

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.

sendToCoproc()

void rb::Manager::sendToCoproc

(

const CoprocReq &

msg

)

setMotors()

MotorChangeBuilder rb::Manager::setMotors

(

)

Get a motor instance.

Create motor power change builder: MotorChangeBuilder.

smartServoBusBackend()

SmartServoBusBackend & rb::Manager::smartServoBusBackend

(

)

stupidServo()

StupidServo & rb::Manager::stupidServo

(

uint8_t

index

)

timers()

Timers & rb::Manager::timers ( )

inline

ultrasound()

Ultrasound & rb::Manager::ultrasound ( uint8_t  index )

inline

Initialize the UART servo bus for intelligent servos LX-16. TODO: smart servos not implemented!

Returns

Instance of the class SmartServoBus which manage the intelligent servos.

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

Returns

Instance of the class SmartServoBus which manage the intelligent servos.

Friends And Related Function Documentation

Encoder

friend class Encoder

friend

Motor

friend class Motor

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:

• RBCXManager.h
• RBCXManager.cpp