MiP_Motion

Class MiP_Motion

Manages MiP's drive system.

Members & Functions

Type	Signature	Description
variable	constexpr uint8_t MIP_CMD_CONTINUOUS_DRIVE	MiP protocol command bytes used by the motion subsystem.
variable	constexpr uint8_t MIP_CMD_DISTANCE_DRIVE
variable	constexpr uint8_t MIP_CMD_TURN_LEFT
variable	constexpr uint8_t MIP_CMD_TURN_RIGHT
variable	constexpr uint8_t MIP_CMD_DRIVE_FORWARD
variable	constexpr uint8_t MIP_CMD_DRIVE_BACKWARD
variable	constexpr uint8_t MIP_CMD_STOP
variable	constexpr uint8_t MIP_CMD_SET_POSITION
variable	constexpr uint8_t MIP_CMD_GET_UP
variable	constexpr uint8_t MIP_CONTINUOUS_DRIVE_DELAY
variable	MiP & m_mip
variable	uint32_t m_lastContinuousDriveTime
function	MiP_Motion(MiP &mip)	Constructs the drive system manager.
function	void continuousDrive(int8_t velocity, int8_t turnRate)	Sends continuous drive command (velocity + turn rate).
function	void distanceDrive(MiPDriveDirection driveDirection, uint8_t cm, MiPTurnDirection turnDirection, uint16_t degrees)	Drives a specific distance then optionally turns.
function	void driveForward(uint8_t speed, uint16_t time)	Drives forward for a limited time at given speed.
function	void driveBackward(uint8_t speed, uint16_t time)	Drives backward for a limited time at given speed.
function	void turnLeft(uint16_t degrees, uint8_t speed)	Turns left by the specified angle at given speed.
function	void turnRight(uint16_t degrees, uint8_t speed)	Turns right by the specified angle at given speed.
function	void stop()	Stops all motion.
function	void fallForward()	Commands MiP to fall forward (face down).
function	void fallBackward()	Commands MiP to fall backward (on its back).
function	void getUp(MiPGetUp getup=MIP_GETUP_FROM_EITHER)	Commands MiP to get up from a fallen position.
function	void fallDown(MiPFallDirection direction)