net::mc::tasks::PowerRepeatTask Class Reference

This task is responsible for periodically resending setMotorPower commands to the motors. More...

#include <MissionControlTasks.h>

Inheritance diagram for net::mc::tasks::PowerRepeatTask:

Collaboration diagram for net::mc::tasks::PowerRepeatTask:

Public Member Functions
void	setJointPower (robot::types::jointid_t id, double power)
	Set the power to resend to the given joint.
void	setCmdVel (double steerVel, double xVel)
	Set the drive command to resend.
void	setTankCmdVel (double steerVel, double xVel)
	Set the tank drive command to resend.
void	setTurnInPlaceCmdVel (double steerVel)
	Set the turn-in-place drive command to resend.
void	setCrabCmdVel (double steerVel, double xVel)
	Set the crab drive command to resend.
void	start () override
	Start the task.
void	stop () override
	Stop the task and wait for it to finish.
Public Member Functions inherited from util::PeriodicTask< Clock >
	PeriodicTask (const std::chrono::milliseconds &period, const std::function< void()> &f)
	Construct a new periodic task.
Public Member Functions inherited from util::AsyncTask< std::chrono::steady_clock >
	AsyncTask (const std::optional< std::string > &name=std::nullopt)
	Construct a new task.
	AsyncTask (const AsyncTask &)=delete
AsyncTask &	operator= (const AsyncTask &)=delete
bool	isRunning ()
	Check if the task is running.

Additional Inherited Members
Protected Member Functions inherited from util::PeriodicTask< Clock >
void	task (std::unique_lock< std::mutex > &lock) override
	The long-running task, overridden by client code.
void	notify () override
	Not for use by client code.
Protected Member Functions inherited from util::AsyncTask< std::chrono::steady_clock >
bool	isRunningInternal ()
	Version of AsyncTask::isRunning() that does no synchronization.
bool	wait_until (std::unique_lock< std::mutex > &lock, const std::chrono::time_point< std::chrono::steady_clock > &tp)
	Wait until the specified time point, or until the task has been stopped.
bool	wait_for (std::unique_lock< std::mutex > &lock, const std::chrono::duration< Rep, Period > &dur)
	Wait for a given duration, or until the task has been stopped.
void	wait_until_done (std::unique_lock< std::mutex > &lock)
	Wait until the task has been stopped.

Detailed Description

This task is responsible for periodically resending setMotorPower commands to the motors.

This feeds the hardware watchdog and keeps the motors running.

Member Function Documentation

setCmdVel()

void net::mc::tasks::PowerRepeatTask::setCmdVel	(	double	steerVel,
		double	xVel )

Set the drive command to resend.

This does not execute the drive command right now.

setCrabCmdVel()

void net::mc::tasks::PowerRepeatTask::setCrabCmdVel	(	double	steerVel,
		double	xVel )

Set the crab drive command to resend.

This does not execute the drive command right now.

setJointPower()

void net::mc::tasks::PowerRepeatTask::setJointPower	(	robot::types::jointid_t	id,
		double	power )

Set the power to resend to the given joint.

This does not set the motor power right now.

setTankCmdVel()

void net::mc::tasks::PowerRepeatTask::setTankCmdVel	(	double	steerVel,
		double	xVel )

Set the tank drive command to resend.

This does not execute the drive command right now.

setTurnInPlaceCmdVel()

void net::mc::tasks::PowerRepeatTask::setTurnInPlaceCmdVel

(

double

steerVel

)

Set the turn-in-place drive command to resend.

This does not execute the drive command right now.

start()

void net::mc::tasks::PowerRepeatTask::start ( )

overridevirtual

Start the task.

If the task is already running, do nothing.

Reimplemented from util::AsyncTask< std::chrono::steady_clock >.

stop()

void net::mc::tasks::PowerRepeatTask::stop ( )

overridevirtual

Stop the task and wait for it to finish.

If the task is not running, do nothing.

Reimplemented from util::AsyncTask< std::chrono::steady_clock >.

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

• src/network/MissionControlTasks.h
• src/network/MissionControlTasks.cpp