BALANCE Class Reference

Finite State Machine class for robot balance control. More...

#include <balance.h>

Public Types
enum	state { S0_INIT , S1_IDLE , S2_RUN }
typedef enum BALANCE::state	state_t

Public Member Functions
	BALANCE ()
	Constructor for the BALANCE class.
int32_t	get_M1_eff (void)
	Returns the motor effort for motor 1.
int32_t	get_M2_eff (void)
	Returns the motor effort for motor 2.
void	run (void)
	Executes the FSM logic and PID balance control.

Detailed Description

Finite State Machine class for robot balance control.

Member Enumeration Documentation

state

enum BALANCE::state

Enumerator
S0_INIT	Initialization state.
S1_IDLE	Idle state.
S2_RUN	Running control loop.

Constructor & Destructor Documentation

BALANCE()

BALANCE::BALANCE

(

)

Constructor for the BALANCE class.

Initializes the FSM to the S0_INIT state.

Member Function Documentation

get_M1_eff()

int32_t BALANCE::get_M1_eff

(

void

)

Returns the motor effort for motor 1.

Retrieves the calculated effort for motor 1.

Returns

Effort for motor 1 (M1) as a signed 32-bit integer.

Motor 1 effort as a signed 32-bit integer.

get_M2_eff()

int32_t BALANCE::get_M2_eff

(

void

)

Returns the motor effort for motor 2.

Retrieves the calculated effort for motor 2.

Returns

Effort for motor 2 (M2) as a signed 32-bit integer.

Motor 2 effort as a signed 32-bit integer.

run()

void BALANCE::run

(

void

)

Executes the FSM logic and PID balance control.

Executes one iteration of the balance FSM.

This function handles state transitions and PID-based control logic using IMU data to maintain robot balance.

---

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

• Inc/balance.h
• Src/balance.cpp