The EngineController class. More...

#include <EngineController.hpp>

Signals
void	directionUpdated (CarDirection newDirection)

void	steeringUpdated (int newAngle)

Public Member Functions
	EngineController ()
	Default constructor for the EngineController class.

	EngineController (int servo_addr, int motor_addr, QObject *parent=nullptr)
	Constructs an EngineController object, initializing motor and servo controllers.

	~EngineController ()
	Destructor for the EngineController class.

void	start ()
	Starts the engine.

void	stop ()
	Stops the engine.

void	set_speed (int speed)
	Sets the speed of the car.

void	set_steering (int angle)
	Sets the steering angle of the car.

Private Member Functions
void	setDirection (CarDirection newDirection)
	Sets the direction of the car and emits the directionUpdated signal if the direction has changed.

Private Attributes
const int	MAX_ANGLE = 180

const int	SERVO_CENTER_PWM = 340

const int	SERVO_LEFT_PWM = 340 - 100

const int	SERVO_RIGHT_PWM = 340 + 130

const int	STEERING_CHANNEL = 0

std::atomic< bool >	m_running

std::atomic< int >	m_current_speed

std::atomic< int >	m_current_angle

CarDirection	m_currentDirection = CarDirection::Stop

IPeripheralController *	pcontrol

Detailed Description

The EngineController class.

This class is responsible for controlling the engine of the car.

Definition at line 27 of file EngineController.hpp.

Constructor & Destructor Documentation

◆ EngineController() [1/2]

EngineController::EngineController ( )

Default constructor for the EngineController class.

Definition at line 41 of file EngineController.cpp.

◆ EngineController() [2/2]

EngineController::EngineController	(	int	servo_addr,
		int	motor_addr,
		QObject *	parent = nullptr )

Constructs an EngineController object, initializing motor and servo controllers.

Parameters

servo_addr	The address of the servo controller.
motor_addr	The address of the motor controller.
parent	The parent QObject for this instance.

Sets up the PeripheralController and initializes the servo and motor controllers.

Definition at line 50 of file EngineController.cpp.

◆ ~EngineController()

EngineController::~EngineController ( )

Destructor for the EngineController class.

Stops the engine and deletes the peripheral controller.

Definition at line 65 of file EngineController.cpp.

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Member Function Documentation

◆ directionUpdated

void EngineController::directionUpdated ( CarDirection newDirection )

signal

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◆ set_speed()

void EngineController::set_speed ( int speed )

Sets the speed of the car.

Parameters

speed The desired speed value, ranging from -100 to 100.

This function adjusts the motor PWM signals based on the input speed value. Positive values set the car to move in reverse due to joystick reversal, while negative values move it forward. A speed of zero stops the car. The function also updates the car's direction accordingly and clamps the speed to ensure it is within the valid range.

Definition at line 112 of file EngineController.cpp.

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◆ set_steering()

void EngineController::set_steering ( int angle )

Sets the steering angle of the car.

Parameters

angle The desired steering angle in degrees, ranging from -MAX_ANGLE to MAX_ANGLE.

This function adjusts the servo PWM signal based on the input angle value. The function clamps the angle to ensure it is within the valid range and calculates the corresponding PWM value. The function also updates the internal steering angle and emits the steeringUpdated signal.

Definition at line 152 of file EngineController.cpp.

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◆ setDirection()

void EngineController::setDirection ( CarDirection newDirection )

private

Sets the direction of the car and emits the directionUpdated signal if the direction has changed.

Parameters

newDirection The new direction to set.

Definition at line 94 of file EngineController.cpp.

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◆ start()

void EngineController::start ( )

Starts the engine.

Sets the m_running flag to true.

Definition at line 75 of file EngineController.cpp.

◆ steeringUpdated

void EngineController::steeringUpdated ( int newAngle )

signal

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◆ stop()

void EngineController::stop ( )

Stops the engine.

Sets the m_running flag to false and sets both speed and steering to 0.

Definition at line 82 of file EngineController.cpp.

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Field Documentation

◆ m_current_angle

std::atomic<int> EngineController::m_current_angle

private

Definition at line 39 of file EngineController.hpp.

◆ m_current_speed

std::atomic<int> EngineController::m_current_speed

private

Definition at line 38 of file EngineController.hpp.

◆ m_currentDirection

CarDirection EngineController::m_currentDirection = CarDirection::Stop

private

Definition at line 40 of file EngineController.hpp.

◆ m_running

std::atomic<bool> EngineController::m_running

private

Definition at line 37 of file EngineController.hpp.

◆ MAX_ANGLE

const int EngineController::MAX_ANGLE = 180

private

Definition at line 31 of file EngineController.hpp.

◆ pcontrol

IPeripheralController* EngineController::pcontrol

private

Definition at line 44 of file EngineController.hpp.

◆ SERVO_CENTER_PWM

const int EngineController::SERVO_CENTER_PWM = 340

private

Definition at line 32 of file EngineController.hpp.

◆ SERVO_LEFT_PWM

const int EngineController::SERVO_LEFT_PWM = 340 - 100

private

Definition at line 33 of file EngineController.hpp.

◆ SERVO_RIGHT_PWM

const int EngineController::SERVO_RIGHT_PWM = 340 + 130

private

Definition at line 34 of file EngineController.hpp.

◆ STEERING_CHANNEL

const int EngineController::STEERING_CHANNEL = 0

private

Definition at line 35 of file EngineController.hpp.

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

apps/car_controls/includes/EngineController.hpp
apps/car_controls/sources/EngineController.cpp

Signals

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EngineController() [1/2]

◆ EngineController() [2/2]

◆ ~EngineController()

Member Function Documentation

◆ directionUpdated

◆ set_speed()

◆ set_steering()

◆ setDirection()

◆ start()

◆ steeringUpdated

◆ stop()

Field Documentation

◆ m_current_angle

◆ m_current_speed

◆ m_currentDirection

◆ m_running

◆ MAX_ANGLE

◆ pcontrol

◆ SERVO_CENTER_PWM

◆ SERVO_LEFT_PWM

◆ SERVO_RIGHT_PWM

◆ STEERING_CHANNEL