Talas Class Reference

Main TALAS class. More...

#include <Talas.h>

Public Member Functions
	Talas (String n)
	Constructor. More...

Device Attachments
For use in setup() function.
void	attachHealth (uint8_t pin0, uint8_t pin1, uint8_t pin2, uint8_t pin3)
	Attach health indicator. More...
void	attachDriver (uint8_t pinIn1, uint8_t pinIn2, uint8_t pinIn3, uint8_t pinIn4)
	Attach DC motors driver with constant full speed. More...
void	attachDriver (uint8_t pinIn1, uint8_t pinIn2, uint8_t pinIn3, uint8_t pinIn4, uint8_t pinEnA, uint8_t pinEnB)
	Attach DC motors driver with speed control. More...
void	attachTurret (uint8_t pinLaser)
	Attach turret with laser gun only. More...
void	attachTurret (uint8_t pinLaser, uint8_t pinH, uint8_t pinV)
	Attach movable turret with laser gun. More...
void	attachHitDetector (uint8_t pinHit)
	Attach hit detector. More...
void	attachBluetooth ()
	Attach Bluetooth communication module. More...

Name
void	name (String n)
	Set name. More...
String	name ()
	Get name. More...

Health Indicator
uint8_t	health ()
	Get health. More...
void	resetHealth ()
	Reset health (set health to a maximum value).

Hit Detector
void	handleImpulse ()
	Handle timer interrupt and detect laser impulses. More...
void	hit ()
	Handle hits. More...

Movement
void	forward ()
	Move forward.
void	backward ()
	Move backward.
void	left ()
	Turn left.
void	right ()
	Turn right.
void	stop ()
	Stop.
void	speed (uint8_t s)
	Set speed. More...
uint8_t	speed ()
	Get speed. More...
void	slower ()
	Move slower. More...
void	faster ()
	Move faster. More...

Turret
See Turret class reference.
void	setTurretRange (uint8_t, uint8_t, uint8_t, uint8_t)
void	setTurretDelta (uint8_t, uint8_t)
void	resetTurret ()
uint8_t	getTurretH ()
uint8_t	getTurretV ()
void	turretUp ()
void	turretDown ()
void	turretLeft ()
void	turretRight ()

Laser Gun
void	fire ()
	Fire laser gun.

Bluetooth Commands
void	dispatch ()
	Dispatch Bluetooth commands. More...

Detailed Description

Main TALAS class.

Laser tank (or basin) controlling code.

Constructor & Destructor Documentation

Talas()

Talas::Talas

(

String

n

)

Constructor.

Parameters

n	TALAS name.

References TALAS_MAX_HEALTH, and TALAS_START_SPEED.

Member Function Documentation

attachBluetooth()

void Talas::attachBluetooth

(

)

Attach Bluetooth communication module.

Note

TALAS uses Serial1 for Bluetooth on Arduino Mega.

References BT, BT_SPEED, BT_TIMEOUT, and SERIAL_SPEED.

attachDriver() [1/2]

void Talas::attachDriver	(	uint8_t	pinIn1,
		uint8_t	pinIn2,
		uint8_t	pinIn3,
		uint8_t	pinIn4
	)

Attach DC motors driver with constant full speed.

Note

Driver pins ENA and ENB must be closed by jumpers to use this method.

Parameters

pinIn1,pinIn2,pinIn3,pinIn4

Arduino pins for driver input.

Referenced by attachDriver().

attachDriver() [2/2]

void Talas::attachDriver	(	uint8_t	pinIn1,
		uint8_t	pinIn2,
		uint8_t	pinIn3,
		uint8_t	pinIn4,
		uint8_t	pinEnA,
		uint8_t	pinEnB
	)

Attach DC motors driver with speed control.

Note

There must be no jumpers on driver pins ENA and ENB to use this method.

Parameters

pinIn1,pinIn2,pinIn3,pinIn4	Arduino pins for driver input.
pinEnA,pinEnB	Arduino pins for driver "enable" pins. Must be PWM-enabled.

References attachDriver().

attachHealth()

void Talas::attachHealth	(	uint8_t	pin0,
		uint8_t	pin1,
		uint8_t	pin2,
		uint8_t	pin3
	)

Attach health indicator.

Indicator uses digital pins for 4 LEDs.

Parameters

pin0	pin for red LED 'dead'.
pin1	pin for green LED '1 life left'.
pin2	pin for green LED '2 lives left'.
pin3	pin for green LED '3 lives left'.

References resetHealth().

attachHitDetector()

void Talas::attachHitDetector

(

uint8_t

pinHit

)

Attach hit detector.

Parameters

pinHit

Arduino pin for hit detector. Must be analog.

attachTurret() [1/2]

void Talas::attachTurret

(

uint8_t

pinLaser

)

Attach turret with laser gun only.

Parameters

pinLaser

pin for laser gun.

References Turret::attach(), and Turret::reset().

attachTurret() [2/2]

void Talas::attachTurret	(	uint8_t	pinLaser,
		uint8_t	pinH,
		uint8_t	pinV
	)

Attach movable turret with laser gun.

Parameters

pinLaser	pin for laser gun.
pinH	pin for horizontal servo.
pinV	pin for vertical servo.

References Turret::attach(), and Turret::reset().

dispatch()

void Talas::dispatch

(

)

Dispatch Bluetooth commands.

Usage in Arduino sketch:

void loop() {
  talas.dispatch();
}

References backward(), BT, BT_STR_TERM, Turret::down(), faster(), fire(), forward(), Turret::getH(), Turret::getV(), hit(), Turret::left(), left(), name(), Turret::reset(), resetHealth(), Turret::right(), right(), slower(), speed(), stop(), TALAS_DISPATCH_DELAY, TALAS_MAX_HEALTH, and Turret::up().

faster()

void Talas::faster

(

)

Move faster.

Decrease. speed.

Referenced by dispatch().

handleImpulse()

void Talas::handleImpulse

(

)

Handle timer interrupt and detect laser impulses.

Usage in Arduino sketch:

ISR(TIMER3_COMPB_vect) {
  talas.handleImpulse();
}

References hit(), IMPULSE_VARIANCE, Impulse::length, Impulse::n, and Impulse::value.

health()

uint8_t Talas::health

(

)

Get health.

Returns

Health.

hit()

void Talas::hit

(

)

Handle hits.

Decrease health and check if dead already.

References Turret::disable(), Turret::enable(), and stop().

Referenced by dispatch(), and handleImpulse().

name() [1/2]

void Talas::name

(

String

n

)

Set name.

Parameters

n

new name.

References TALAS_MAX_NAME_LENGTH.

name() [2/2]

String Talas::name

(

)

Get name.

Returns

Name.

References TALAS_MAX_HEALTH.

Referenced by dispatch().

slower()

void Talas::slower

(

)

Move slower.

Decrease speed.

References Turret::down(), Turret::getH(), Turret::getV(), Turret::left(), Turret::reset(), Turret::right(), Turret::setDelta(), Turret::setRange(), and Turret::up().

Referenced by dispatch().

speed() [1/2]

void Talas::speed

(

uint8_t

s

)

Set speed.

Parameters

s	speed value.

speed() [2/2]

uint8_t Talas::speed

(

)

Get speed.

Returns

Speed.

Referenced by dispatch().

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

• lib/Talas/src/Talas.h
• lib/Talas/src/Talas.cpp