MotionControl Class Reference

Handles computer-side motion control. More...

Public Member Functions
	MotionControl (Context *context, OurRobot *robot)
void	stopped ()
	Stops the robot. More...
void	run ()
	This runs PID control on the position and angle of the robot and sets values in the robot's radioTx packet.
Pid *	getPid (char controller)
	This returns the PID controller denoted by the char passed in Accepts characters 'x' and 'y' for x and y position controllers as well as 'a' for the angle controller.

Static Public Member Functions
static void	createConfiguration (Configuration *cfg)

Detailed Description

Handles computer-side motion control.

This class handles the details of creating velocity commands for a robot given the desired path to follow. It is responsible for most of what gets sent out in a RadioTx packet. The MotionControl object is given an OurRobot at initialization and from then on will set the values in that robot's RadioTx packet directly whenever run() or stopped() is called.

Member Function Documentation

stopped()

void MotionControl::stopped

(

)

Stops the robot.

The robot will decelerate at max acceleration until it stops.

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

• soccer/motion/MotionControl.hpp
• soccer/motion/MotionControl.cpp