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Class Telerobot contains all features of telerobot. The functions can be divided into two parts.
The first part (marked in green in the Method Summary ): robot movement and environment detect functions. These functions control the telerobot, inclusive sensors , actuators and the telerobot system.
The second part (marked in blue in Method Summary ): system routine. These functions are used as background function. Users do not need to used them.
The original code please see Telerobot.h |
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void MotorConfigure(int p1d, int p1s, int p2d, int p2s, int d1d, int d2d):
Configure all the dc outputs. p1d =0, PWM1 channel has no output. p1d=1, PWM1 channels has positive output. P1d=2, PWM1 channels has negative output. p1s has value from 0 to 99. p1s=0, PSM1 has no output. p1s=99, PWM1 has max output. pP2d =0, PWM1 channel has not output. p2d=1, PWM2 channels has positive output. P2d=2, PWM2 channels has negative output. p2s has value from 0 to 99. p2s=0, PSM2 has no output. p2s=99, PWM2 has max output. d1d=0, DC1 channel has no output. d1d=1,DC1 channel has positive output. d1d=2, DC1 channel has negative output. d2d=0, DC2 channel has no output. d2d=1,DC2 channel has positive output. d2d=2, DC2 channel has negative output.
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void MotorConfigure_Asensor(int p1d, int p1s, int p2d, int p2s, int d1d, int d2d):
Configure all the dc outputs. Sensor channel 6 and 7 are used as analogue sensor p1d =0, PWM1 channel has no output. p1d=1, PWM1 channels has positive output. P1d=2, PWM1 channels has negative output. p1s has value from 0 to 99. p1s=0, PSM1 has no output. p1s=99, PWM1 has max output. pP2d =0, PWM1 channel has not output. p2d=1, PWM2 channels has positive output. P2d=2, PWM2 channels has negative output. p2s has value from 0 to 99. p2s=0, PSM2 has no output. p2s=99, PWM2 has max output. d1d=0, DC1 channel has no output. d1d=1,DC1 channel has positive output. d1d=2, DC1 channel has negative output. d2d=0, DC2 channel has no output. d2d=1,DC2 channel has positive output. d2d=2, DC2 channel has negative output.
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void relayMotor(int d1d, int d2d):
Configure 2 dc relay outputs. d1d=0, DC1 channel has no output. d1d=1,DC1 channel has positive output. d1d=2, DC1 channel has negative output. d2d=0, DC2 channel has no output. d2d=1,DC2 channel has positive output. d2d=2, DC2 channel has negative output.
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void relayMotor_Asensor(int d1d, int d2d):
Configure 2 dc relay outputs. Sensor channel 6 and 7 are used as analogue sensor. d1d=0, DC1 channel has no output. d1d=1,DC1 channel has positive output. d1d=2, DC1 channel has negative output. d2d=0, DC2 channel has no output. d2d=1,DC2 channel has positive output. d2d=2, DC2 channel has negative output.
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Function description |
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void Initial():
Initial the telerobot. Clean all input and output buffer variables. Reset the system periode and fault tolerant records. |
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void checkGuiCommand():
This function is used if user wants to connect the process to the MCGUI application. Without this function, user can not join the MCGUI with this task program. Example I |
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char checkSum(char Input[DATALENGTH]):
Routine function checksum() works in backstage. It checks the data frame from input and output. Return value == true, means that the data frame has no failure. If value == false, it comes a failure in the data frame. If the checksum()==false has three times in a row, the emergencyProcess() function will be invoked immediately. |
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void emergencyProcess() :
emergencyProcess() will be invoked automatically if the function checkSum() ==false happens more than three times in a row. It turns off all DC hardware outputs and sends a emergency signal out. If the process connects with MCGUI, MCGUI can show the emergency alarm on the Graphic interface. |
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void update() :
The update() function checks the communication port. It reads the input data and checks the it (using checksum() ). Finally, it updates all the input variables. |
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Original code: Telerobot.h Telerobot.cpp |
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API Document : Class Telerobot |
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Constructor Summary |
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Telerobot() Constructs an Telerobot object |
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~Telerobot() Destructs an Telerobot object. |
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Method Summary |
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char |
getSensor1() Get sensor1 feedback. The feedback value is either true or false. |
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char |
getSensor2() Get sensor2 feedback. The feedback value is either true or false. |
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char |
getSensor3() Get sensor3 feedback. The feedback value is either true or false. |
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char |
getSensor4() Get sensor4 feedback. The feedback value is either true or false. |
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char |
getSensor5() Get sensor5 feedback. The feedback value is either true or false. |
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char |
getSensor6() Get sensor6 feedback. The feedback value is either true or false. |
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char |
getSensor7() Get sensor7 feedback. The feedback value is either true or false. |
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char |
getSensor8() Get sensor8 feedback. The feedback value is either true or false. |
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void |
ask() Ask the sensor status and robot does not execute any command. |
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void |
ask_Asensor() Ask the sensor status and robot does not execute any command, sensor channel 6 and 7 are used as analogue channel. |
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void |
robotConnect() Build the connection between the personal computer and the telerobot. |
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void |
disConnect() Break the connection between the personal computer and the telerobot. |
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void |
moveForward(int speed) Pwm1 and Pwm2 output rotate in inverse direction with the same velocity. Attribute speed demonstrates the rotate speed. Value range is from 0 to 99. Telerobot moves forward. |
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void |
moveForwared_Asensor(int speed) Pwm1 and Pwm2 output rotate in inverse direction with the same velocity. Attribute speed demonstrates the rotate speed. Value range is from 0 to 99. Telerobot moves forward. sensor channel 6 and 7 are used as analogue channel. |
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void |
moveBackward(int speed) Pwm1 and Pwm2 output rotate in inverse direction with the same velocity. Attribute speed demonstrates the rotate speed. Value range is from 0 to 99. Telerobot moves backward. |
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void |
moveForwared_Asensor(int speed) Pwm1 and Pwm2 output rotate in inverse direction with the same velocity. Attribute speed demonstrates the rotate speed. Value range is from 0 to 99. Telerobot moves forward. sensor channel 6 and 7 are used as analogue channel.. |
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void |
turnLeft(int speed) Pwm1 and Pwm2 output rotate in same direction with the same velocity. Attribute speed demonstrates the rotate speed. Value range is from 0 to 99. Telerobot turns left. |
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void |
turnLeft_Asensor(int speed) Pwm1 and Pwm2 output rotate in same direction with the same velocity. Attribute speed demonstrates the rotate speed. Value range is from 0 to 99. Telerobot turns left. sensor channel 6 and 7 are used as analogue channel. |
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void |
turnRight(int speed) Pwm1 and Pwm2 output rotate in same direction with the same velocity. Attribute speed demonstrates the rotate speed. Value range is from 0 to 99. Telerobot turns right. |
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void |
turnRight_Asensor(int speed) Pwm1 and Pwm2 output rotate in same direction with the same velocity. Attribute speed demonstrates the rotate speed. Value range is from 0 to 99. Telerobot turns right. sensor channel 6 and 7 are used as analogue channel. |
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void |
stop() All DC output will be closed. |
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void |
stop_Asensor() All DC output will be closed. Sensor channel 6 and 7 are used as analogue channel |
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void |
MotorConfigure(int p1d, int p1s, int p2d, int p2s, int d1d, int d2d) Configure all the dc outputs. More... |
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void |
MotorConfigure_Asensor(int p1d, int p1s, int p2d, int p2s, int d1d, int d2d) Configure all the dc outputs. Sensor channel 6 and 7 are used as analogue channel. More… |
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void |
relayMotor(int d1d, int d2d) Configure two Dc outputs. More... |
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void |
relayMotor_Asensor(int d1d, int d2d) Configure two Dc outputs. Sensor channel 6 and 7 are used as analogue channel. More… |
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void |
missionOver() Configure the buzzer of the telerobot. |
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void |
Initial() Initial the telerobot object before task started. More... |
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void |
checkGuiCommand() Explain the Gui input data. More... |
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char |
checksum() check the input and output data frame. If the check sum is right, the return value is true, else it is false. More... |
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void |
emgencyProcess() This function will be invoked immediately after the checksum()==false three times in a row. This function guarantees the security of the telerobot. More... |
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void |
update() The update() function refresh all the input buffer variables. More...
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