ArActionDriveDistance Class Reference

#include <ArActionDriveDistance.h>

Inheritance diagram for ArActionDriveDistance:

List of all members.

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Detailed Description

This action goes to a given ArPose very naively.

This action naively drives a fixed distance. The action stops the robot when it has travelled the appropriate distance. It travels at 'speed' mm/sec.

You can give it a distance with setDistance(), cancel its movement with cancelDistance(), and see if it got there with haveAchievedDistance().

You can tell it to go backwards by calling setDistance with a negative value.

This doesn't avoid obstacles or anything, you could add have an limiting ArAction at a higher priority to try to do this (so you don't smash things). (For truly intelligent navigation, see the ARNL or SONARNL software libraries.)

Public Member Functions
	ArActionDriveDistance (const char *name="driveDistance", double speed=400, double deceleration=200)
void	cancelDistance (void)
	Cancels the goal the robot has.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
double	getDeceleration (void)
	Gets the deceleration the action will use (mm/sec/sec).
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
double	getSpeed (void)
	Gets the speed the action will travel at (mm/sec).
bool	haveAchievedDistance (void)
	Sees if the goal has been achieved.
void	setDeceleration (double deceleration=200)
	Sets the deceleration the action will use (mm/sec/sec).
void	setDistance (double distance, bool useEncoders=true)
	Sets a new goal and sets the action to go there.
void	setPrinting (bool printing)
	Sets if we're printing or not.
void	setSpeed (double speed=400)
	Sets the speed the action will travel at (mm/sec).
bool	usingEncoders (void)
	Gets whether we're using the encoder position or the normal position.
Protected Types
enum	State { STATE_NO_DISTANCE, STATE_ACHIEVED_DISTANCE, STATE_GOING_DISTANCE }
Protected Attributes
double	myDeceleration
ArActionDesired	myDesired
double	myDistance
double	myDistTravelled
ArPose	myLastPose
double	myLastVel
bool	myPrinting
double	mySpeed
State	myState
bool	myUseEncoders

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

• ArActionDriveDistance.h
• ArActionDriveDistance.cpp

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