rb Namespace Reference

Classes
class	Angle
class	Battery
	Contains the battery state and can control the robot's power. More...
class	Buttons
class	Leds
class	Manager
	The main library class for working with the RBCX board. Call the install() method at the start of your program. More...
class	Motor
class	MotorChangeBuilder
	Helper class for building the motor change event. More...
class	Mpu
	Helper class for controlling the Mpu. More...
struct	MpuMotion6
struct	MpuMotion9
struct	MpuVector
class	Nvs
class	Oled
	Helper class for controlling the Oled. More...
class	Piezo
	Helper class for controlling the piezo. More...
class	SmartServoBusBackend
class	StupidServo
class	Timers
class	Ultrasound

Enumerations
enum	ButtonId : uint32_t {   Off = CoprocStat_ButtonsEnum_BOFF , On = CoprocStat_ButtonsEnum_BON , B1 = CoprocStat_ButtonsEnum_B1 , B2 = CoprocStat_ButtonsEnum_B2 ,   B3 = CoprocStat_ButtonsEnum_B3 , B4 = CoprocStat_ButtonsEnum_B4 , Up = B1 , Down = B2 ,   Left = B3 , Right = B4 }
	Helper class for controlling the LEDs connected to the expander. More...
enum	LedId {   L1 = CoprocReq_LedsEnum_L1 , L2 = CoprocReq_LedsEnum_L2 , L3 = CoprocReq_LedsEnum_L3 , L4 = CoprocReq_LedsEnum_L4 ,   Green = L1 , Yellow = L2 , Red = L3 , Blue = L4 ,   All = L1 | L2 | L3 | L4 }
	Helper class for controlling the LEDs connected to the expander. More...
enum	ManagerInstallFlags { MAN_NONE = 0 , MAN_DISABLE_MOTOR_FAILSAFE = (1 << 0) , MAN_DISABLE_ESP_WATCHDOG = (1 << 1) }
	This enum contains flags for the Manager's install() method. More...
enum class	MotorId : uint8_t {   M1 , M2 , M3 , M4 ,   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)
ManagerInstallFlags	operator| (ManagerInstallFlags a, ManagerInstallFlags b)
MotorId	operator++ (MotorId &x)
	Decrements the motor ID. More...
MotorId	operator-- (MotorId &x)
static void	dieTimers (TimerHandle_t timer)
template<typename T >
T	clamp (T value, T min, T max)
void	delayMs (int ms)
	Delay for given number of milliseconds. Like Arduino's delay() More...
void	delay (std::chrono::duration< uint32_t, std::milli > delay)
	Delay for given number of microseconds. Like Arduino's delayMicroseconds() More...

Variables
static constexpr int	UltrasoundsCount = 4
static constexpr int	StupidServosCount = 4

Enumeration Type Documentation

ButtonId

enum rb::ButtonId : uint32_t

Helper class for controlling the LEDs connected to the expander.

Enumerator
Off
On
B1
B2
B3
B4
Up
Down
Left
Right

LedId

enum rb::LedId

Helper class for controlling the LEDs connected to the expander.

Enumerator
L1
L2
L3
L4
Green
Yellow
Red
Blue
All

ManagerInstallFlags

enum rb::ManagerInstallFlags

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

Enumerator
MAN_NONE	Disables automatic motor failsafe, which stops the motors after 300ms of no set motor power calls.
MAN_DISABLE_MOTOR_FAILSAFE	Disables the watchdog on STM32 coprocessor, which resets the ESP32 and stops all peripherials if ESP32 does not respond in time. The watchdog is disabled by default, but this library enables it on start (unless this flag is used) and it stays on through ESP32 restarts.
MAN_DISABLE_ESP_WATCHDOG

MotorId

enum class rb::MotorId : uint8_t

strong

Enumerator
M1	Motor 1.
M2	Motor 2.
M3	Motor 3.
M4	Motor 4.
MAX	Maximal motor ID.

Function Documentation

clamp()

template<typename T >

T rb::clamp	(	T	value,
		T	min,
		T	max
	)

delay()

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

inline

Delay for given number of microseconds. Like Arduino's delayMicroseconds()

Parameters

us

delayMs()

void rb::delayMs ( int  ms )

inline

Delay for given number of milliseconds. Like Arduino's delay()

Parameters

ms

dieTimers()

static void rb::dieTimers ( TimerHandle_t  timer )

static

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

Decrements the motor ID.

operator-()

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

operator--()

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

inline

operator/()

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

operator|()

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

inline

Variable Documentation

StupidServosCount

constexpr int rb::StupidServosCount = 4

staticconstexpr

UltrasoundsCount

constexpr int rb::UltrasoundsCount = 4

staticconstexpr