MiP_Motion

Class MiP_Motion

Manages MiP's drive system.

Public Elements

MIP_CMD_CONTINUOUS_DRIVE

Signature: constexpr uint8_t MIP_CMD_CONTINUOUS_DRIVE

Summary: MiP protocol command bytes used by the motion subsystem.

Details:

These values are placed in the first byte of requests sent to the MiP (and appear in the corresponding responses). See the official MiP BLE Protocol for the complete list.

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MIP_CMD_DISTANCE_DRIVE

Signature: constexpr uint8_t MIP_CMD_DISTANCE_DRIVE

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MIP_CMD_TURN_LEFT

Signature: constexpr uint8_t MIP_CMD_TURN_LEFT

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MIP_CMD_TURN_RIGHT

Signature: constexpr uint8_t MIP_CMD_TURN_RIGHT

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MIP_CMD_DRIVE_FORWARD

Signature: constexpr uint8_t MIP_CMD_DRIVE_FORWARD

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MIP_CMD_DRIVE_BACKWARD

Signature: constexpr uint8_t MIP_CMD_DRIVE_BACKWARD

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MIP_CMD_STOP

Signature: constexpr uint8_t MIP_CMD_STOP

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MIP_CMD_SET_POSITION

Signature: constexpr uint8_t MIP_CMD_SET_POSITION

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MIP_CMD_GET_UP

Signature: constexpr uint8_t MIP_CMD_GET_UP

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MIP_CONTINUOUS_DRIVE_DELAY

Signature: constexpr uint8_t MIP_CONTINUOUS_DRIVE_DELAY

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MiP_Motion

Signature: MiP_Motion(MiP &mip)

Summary: Constructs the drive system manager.

Parameters:

Parameter	Description
mip	A reference to the main MiP object to access core services.

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continuousDrive

Signature: void continuousDrive(int8_t velocity, int8_t turnRate)

Summary: Sends continuous drive command (velocity + turn rate).

Details:

Rate-limited internally to avoid overwhelming the MiP (~20 Hz max). Fire-and-forget (no verification possible).

Parameters:

Parameter	Description
velocity	-32 to +32 (negative = backward).
turnRate	-32 to +32 (negative = left).

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distanceDrive

Signature: void distanceDrive(MiPDriveDirection driveDirection, uint8_t cm, MiPTurnDirection turnDirection, uint16_t degrees)

Summary: Drives a specific distance then optionally turns.

Details:

Fire-and-forget command.

Parameters:

Parameter	Description
driveDirection	Forward or backward.
cm	Distance in centimeters.
turnDirection	Turn direction after driving.
degrees	Turn angle in degrees (0-360).

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driveForward

Signature: void driveForward(uint8_t speed, uint16_t time)

Summary: Drives forward for a limited time at given speed.

Details:

Fire-and-forget. Time is internally converted to 7ms units.

Parameters:

Parameter	Description
speed	Drive speed (0-30).
time	Duration in milliseconds (max ~1.78 seconds).

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driveBackward

Signature: void driveBackward(uint8_t speed, uint16_t time)

Summary: Drives backward for a limited time at given speed.

Details:

Fire-and-forget. Time is internally converted to 7ms units.

Parameters:

Parameter	Description
speed	Drive speed (0-30).
time	Duration in milliseconds (max ~1.78 seconds).

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turnLeft

Signature: void turnLeft(uint16_t degrees, uint8_t speed)

Summary: Turns left by the specified angle at given speed.

Details:

Fire-and-forget. Angle is internally converted to 5° units.

Parameters:

Parameter	Description
degrees	Turn angle (max 1275°).
speed	Turn speed (0-24).

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turnRight

Signature: void turnRight(uint16_t degrees, uint8_t speed)

Summary: Turns right by the specified angle at given speed.

Details:

Fire-and-forget. Angle is internally converted to 5° units.

Parameters:

Parameter	Description
degrees	Turn angle (max 1275°).
speed	Turn speed (0-24).

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stop

Signature: void stop()

Summary: Stops all motion.

Details:

Fire-and-forget.

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fallForward

Signature: void fallForward()

Summary: Commands MiP to fall forward (face down).

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fallBackward

Signature: void fallBackward()

Summary: Commands MiP to fall backward (on its back).

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getUp

Signature: void getUp(MiPGetUp getup=MIP_GETUP_FROM_EITHER)

Summary: Commands MiP to get up from a fallen position.

Parameters:

Parameter	Description
getup	Which way to attempt getting up (default = either side).

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