Rovio.API.Movement Class Reference

All movement commands. More...

Inheritance diagram for Rovio.API.Movement:

Classes
class	ManualDriveComponent
	Manual drive commands. Majority of the drive commands feature the speed parameter: 1 (fastest) - 10 (slowest). Note that depending on the type of surface, the robot might have problems executing commands with very low speeds (i.e. it will stall). More...
class	MCUReportComponent
	Provides a run-time report from Rovio's microcontroller. Run the Update() method before accessing individual parameters of the report. This solution reduces the data traffic when accessing multiple parameters at the same time. More...
class	MovementResponseException
	Report errors in movement responses received from Rovio. More...
class	ReportComponent
class	TuningParametersComponent
	Manage robot parameters used during navigation: homing, docking and automatic driving. More...

Public Types
enum	NavigationState {   IDLE = 0, HOMING = 1, DOCKING = 2, PLAYING_PATH = 3,   RECORDING_PATH = 4 }
	Rovio's navigation state. More...
enum	ChargerStatus { IDLE = 0, COMPLETED = 1, CHARGING = 2, ERROR = 3 }
	Charger status. More...

Public Member Functions
	Movement (Robot _robot)
	The constructor.
string	GetReport ()
	Get the current status of the robot (in a string format). Refer to Report for accessing individual items of this report.
void	StartRecording ()
	Start recording a path.
void	AbortRecording ()
	Stop recording and discard a path.
void	StopRecording (string path)
	Stop recording and store a path.
void	DeletePath (string path)
	Delete the specified path.
string	GetPathList ()
	Get a list of stored paths.
void	PlayPathForward ()
	Replay the specified path from the closest point to the last one.
void	PlayPathBackward ()
	Replay the specified path from the closest point to the first one.
void	StopPlaying ()
	Stop playing the current path.
void	PausePlaying ()
	Pause playing the current path.
void	RenamePath (string old_path, string new_path)
	Rename the specified path.
void	GoHome ()
	Drive to home location without docking.
void	GoHomeAndDock ()
	Drive to home location with docking.
void	UpdateHomePosition ()
	Use the current location as home location.
void	SetTuningParameters ()
	Set homing, docking and driving parameters. Refer to TuningParameters for setting the individual elements.
string	GetTuningParameters ()
	Get homing, docking and driving parameters (in a string format). Refer to TuningParameters for accessing individual elements of the report.
void	ResetNavStateMachine ()
	Stop and reset to idle.
void	FrontLight (bool value)
	Switch on/off the front LED.
void	IRSensor (bool value)
	Switch on/off the power of the IR sensor.
string	GetMCUReport ()
	Get the report from the robot's microcontroller. Refer to MCUReport for accessing individual items of the report.
void	ClearAllPaths ()
	Delete all stored paths.
NavigationState	GetStatus ()
	Return the navigation status.
void	SaveParameter (int index, int value)
	Store value for the specified parameter.
int	ReadParameter (int index)
	Read the specified parameter value.
string	GetLibNSVersion ()
	NorthStar/TrueTrack version.
void	EmailImage (string email_address)
	Email the current image / set an action (in path recording mode).
void	ResetHomeLocation ()
	Clear home location.
Public Member Functions inherited from Rovio.API.MovementComponent
	MovementComponent (Robot _robot)
	The constructor.
virtual string	Request (string value)
	Request and parse the movement command.
Public Member Functions inherited from Rovio.Component
	Component (Robot _robot)
	The constructor.
virtual void	Update ()
	The Update function that manually refreshes the state of a given component (e.g. when AutoUpdate = false)

Public Attributes
ReportComponent	Report
	Report commands.
ManualDriveComponent	ManualDrive
	Manual Drive commands.
TuningParametersComponent	TuningParameters
	Tuning Parameters commands.
MCUReportComponent	MCUReport
	MCU Report commands.

Additional Inherited Members
Protected Member Functions inherited from Rovio.API.MovementComponent
string	GetParameter (string value)
	Parse the specific parameter and return its value.
Protected Attributes inherited from Rovio.API.MovementComponent
string	report
	Stores the latest response from the robot. Usefull for commands supporting multiple fields in the response.

Detailed Description

All movement commands.

Some of the commands perform multiple actions or return multiple data items (i.e. GetReport(), ManualDrive, GetTuningParameters(), GetMCUReport()). There is a dedicated class implemented for each such command.

Path related commands use the TrueTrack sensor and might require careful timing if issued in a sequence.

Member Enumeration Documentation

enum Rovio.API.Movement.ChargerStatus

Charger status.

enum Rovio.API.Movement.NavigationState

Rovio's navigation state.

Enumerator:

IDLE	Idle.
HOMING	Driving home.
DOCKING	Docking.
PLAYING_PATH	Playing a path.
RECORDING_PATH	Recoring a path.

Member Function Documentation

string Rovio.API.Movement.GetReport

(

)

Get the current status of the robot (in a string format). Refer to Report for accessing individual items of this report.

Remarks:

• Rovio will resist going outside NorthStar coverage area while recording path
• Rovio will stop recording if coverage is lost
• Rovio will stop recording if user connection is lost

string Rovio.API.Movement.GetTuningParameters

(

)

Get homing, docking and driving parameters (in a string format). Refer to TuningParameters for accessing individual elements of the report.

The parameters include: LeftRight, Forward, Reverse, DriveTurn, HomingTurn, ManDrive, ManTurn and DockTimeout.

void Rovio.API.Movement.PausePlaying

(

)

Pause playing the current path.

The playback continues whith the next pause command and stops completely with the stop command.

void Rovio.API.Movement.PlayPathBackward

(

)

Replay the specified path from the closest point to the first one.

If the NorthStar signal is lost the playback is interrupted.

void Rovio.API.Movement.PlayPathForward

(

)

Replay the specified path from the closest point to the last one.

If the NorthStar signal is lost the playback is interrupted.

void Rovio.API.Movement.SetTuningParameters

(

)

Set homing, docking and driving parameters. Refer to TuningParameters for setting the individual elements.

The parameters include: LeftRight, Forward, Reverse, DriveTurn, HomingTurn, ManDrive, ManTurn and DockTimeout.

Member Data Documentation

ManualDriveComponent Rovio.API.Movement.ManualDrive

Manual Drive commands.

MCUReportComponent Rovio.API.Movement.MCUReport

MCU Report commands.

ReportComponent Rovio.API.Movement.Report

Report commands.

TuningParametersComponent Rovio.API.Movement.TuningParameters

Tuning Parameters commands.

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

• C:/Users/Greg/Documents/GitHub/RoboLib/src/Rovio.cs