The PeripheralController class. More...

#include <PeripheralController.hpp>

Public Member Functions
	PeripheralController (int servo_addr, int motor_addr)
	Constructor for the PeripheralController class.

	~PeripheralController () override
	Destructor for the PeripheralController class.

int	i2c_smbus_write_byte_data (int file, uint8_t command, uint8_t value) override
	Writes a byte of data to a specific register.

int	i2c_smbus_read_byte_data (int file, uint8_t command) override
	Reads a byte of data from a specific register.

virtual void	write_byte_data (int fd, int reg, int value) override
	Writes a byte of data to a specific register.

virtual int	read_byte_data (int fd, int reg) override
	Reads a byte of data from a specific register.

void	set_servo_pwm (int channel, int on_value, int off_value) override
	Sets the PWM of a servo motor.

void	set_motor_pwm (int channel, int value) override
	Sets the PWM value for a motor.

void	init_servo () override
	Initializes the servo controller.

void	init_motors () override
	Initializes the motor controllers.

Public Member Functions inherited from IPeripheralController
virtual	~IPeripheralController ()=default

Private Attributes
int	servo_bus_fd_

int	motor_bus_fd_

int	servo_addr_

int	motor_addr_

Detailed Description

The PeripheralController class.

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

Definition at line 33 of file PeripheralController.hpp.

Constructor & Destructor Documentation

◆ PeripheralController()

PeripheralController::PeripheralController	(	int	servo_addr,
		int	motor_addr )

Constructor for the PeripheralController class.

Parameters

servo_addr	The address of the servo controller.
motor_addr	The address of the motor controller.

Initializes the I2C buses and sets the device addresses. Throws an exception if either the servo or motor controller cannot be opened or if the address cannot be set.

Definition at line 59 of file PeripheralController.cpp.

◆ ~PeripheralController()

PeripheralController::~PeripheralController ( )

override

Destructor for the PeripheralController class.

Closes the file descriptors for the servo and motor I2C buses, ensuring that resources are properly released when the object is destroyed.

Definition at line 85 of file PeripheralController.cpp.

Member Function Documentation

◆ i2c_smbus_read_byte_data()

int PeripheralController::i2c_smbus_read_byte_data	(	int	file,
		uint8_t	command )

overridevirtual

Reads a byte of data from a specific register.

Parameters

file	The file descriptor of the I2C bus.
command	The register address to read from.

Returns: The byte of data read from the register, or -1 if the operation fails.

Implements IPeripheralController.

Definition at line 120 of file PeripheralController.cpp.

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◆ i2c_smbus_write_byte_data()

int PeripheralController::i2c_smbus_write_byte_data	(	int	file,
		uint8_t	command,
		uint8_t	value )

overridevirtual

Writes a byte of data to a specific register.

Parameters

file	The file descriptor for the I2C bus.
command	The register address to write to.
value	The byte of data to write to the register.

Returns: The result of the write operation (0 on success, -1 on failure).

Exceptions

std::runtime_error if the I2C write operation fails.

Implements IPeripheralController.

Definition at line 99 of file PeripheralController.cpp.

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◆ init_motors()

void PeripheralController::init_motors ( )

overridevirtual

Initializes the motor controllers.

Sets up the motor controllers, configuring them for 100 Hz PWM operation. The motors are then enabled.

Implements IPeripheralController.

Definition at line 236 of file PeripheralController.cpp.

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◆ init_servo()

void PeripheralController::init_servo ( )

overridevirtual

Initializes the servo controller.

Configures the servo controller with specific register settings. The method writes a sequence of commands to the servo bus to prepare the controller for operation. It includes setting the mode, setting the prescale value, and enabling the output. Each command is followed by a delay to ensure proper initialization.

Implements IPeripheralController.

Definition at line 213 of file PeripheralController.cpp.

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◆ read_byte_data()

int PeripheralController::read_byte_data	(	int	fd,
		int	reg )

overridevirtual

Reads a byte of data from a specific register.

Parameters

fd	The file descriptor for the I2C bus.
reg	The register address to read from.

Returns: The byte of data read from the register.

Exceptions

std::runtime_error if the I2C read operation fails.

Implements IPeripheralController.

Definition at line 158 of file PeripheralController.cpp.

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◆ set_motor_pwm()

void PeripheralController::set_motor_pwm	(	int	channel,
		int	value )

overridevirtual

Sets the PWM value for a motor.

Parameters

channel	The motor channel to set.
value	The desired PWM value.

The value is clamped to [0, 4095] and then written to the motor controller.

Implements IPeripheralController.

Definition at line 195 of file PeripheralController.cpp.

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◆ set_servo_pwm()

void PeripheralController::set_servo_pwm	(	int	channel,
		int	on_value,
		int	off_value )

overridevirtual

Sets the PWM of a servo motor.

Parameters

channel	The channel number of the servo motor to control.
on_value	The on-time value of the PWM signal (in range 0-4095).
off_value	The off-time value of the PWM signal (in range 0-4095).

The on-time value is stored in the first two bytes of the register, and the off-time value is stored in the second two bytes. The actual PWM frequency is 50 Hz.

Implements IPeripheralController.

Definition at line 177 of file PeripheralController.cpp.

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◆ write_byte_data()

void PeripheralController::write_byte_data	(	int	fd,
		int	reg,
		int	value )

overridevirtual

Writes a byte of data to a specific register.

Parameters

fd	The file descriptor for the I2C bus.
reg	The register address to write to.
value	The byte of data to write to the register.

Exceptions

std::runtime_error if the I2C write operation fails.

Implements IPeripheralController.

Definition at line 143 of file PeripheralController.cpp.

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Field Documentation

◆ motor_addr_

int PeripheralController::motor_addr_

private

Definition at line 39 of file PeripheralController.hpp.

◆ motor_bus_fd_

int PeripheralController::motor_bus_fd_

private

Definition at line 37 of file PeripheralController.hpp.

◆ servo_addr_

int PeripheralController::servo_addr_

private

Definition at line 38 of file PeripheralController.hpp.

◆ servo_bus_fd_

int PeripheralController::servo_bus_fd_

private

Definition at line 36 of file PeripheralController.hpp.

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

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PeripheralController()

◆ ~PeripheralController()

Member Function Documentation

◆ i2c_smbus_read_byte_data()

◆ i2c_smbus_write_byte_data()

◆ init_motors()

◆ init_servo()

◆ read_byte_data()

◆ set_motor_pwm()

◆ set_servo_pwm()

◆ write_byte_data()

Field Documentation

◆ motor_addr_

◆ motor_bus_fd_

◆ servo_addr_

◆ servo_bus_fd_