BLUETOOTH Class Reference

Finite State Machine for Bluetooth-based control input. More...

#include <bluetooth.h>

Public Types
enum	state {   S0_INIT , S1_STOP , SF_FORWARD , SB_BACKWARD ,   SR_RIGHT , SL_LEFT }
typedef enum BLUETOOTH::state	state_t

Public Member Functions
	BLUETOOTH ()
	Constructor for the BLUETOOTH class.
void	run (void)
	Executes one iteration of the Bluetooth FSM.
void	set_command (char cmd)
	Sets the most recent command character received over Bluetooth.
int16_t	get_M1_set (void)
	Retrieves the motor 1 setpoint based on last command.
int16_t	get_M2_set (void)
	Retrieves the motor 2 setpoint based on last command.

Detailed Description

Finite State Machine for Bluetooth-based control input.

Converts ASCII command characters received via UART into motor setpoints for directional movement.

Member Enumeration Documentation

state

enum BLUETOOTH::state

Enumerator
S0_INIT	Initialization state.
S1_STOP	Stop motors.
SF_FORWARD	Move forward.
SB_BACKWARD	Move backward.
SR_RIGHT	Turn right.
SL_LEFT	Turn left.

Constructor & Destructor Documentation

BLUETOOTH()

BLUETOOTH::BLUETOOTH

(

)

Constructor for the BLUETOOTH class.

Initializes the FSM to the S0_INIT state and motor setpoints to zero.

Member Function Documentation

get_M1_set()

int16_t BLUETOOTH::get_M1_set

(

void

)

Retrieves the motor 1 setpoint based on last command.

Retrieves the setpoint for motor 1.

Returns

Signed 16-bit motor setpoint value for motor 1.

Motor 1 velocity setpoint.

get_M2_set()

int16_t BLUETOOTH::get_M2_set

(

void

)

Retrieves the motor 2 setpoint based on last command.

Retrieves the setpoint for motor 2.

Returns

Signed 16-bit motor setpoint value for motor 2.

Motor 2 velocity setpoint.

run()

void BLUETOOTH::run

(

void

)

Executes one iteration of the Bluetooth FSM.

Updates motor setpoints based on current state and command.

Translates command characters into motor setpoints by updating internal FSM state.

set_command()

void BLUETOOTH::set_command

(

char

cmd

)

Sets the most recent command character received over Bluetooth.

Sets the most recent command received via Bluetooth.

Parameters

cmd	Single character representing a motion command.
cmd	Single ASCII character representing the command: 'F' = forward, 'B' = backward, 'L' = left, 'R' = right, 'S' = stop.

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

• Inc/bluetooth.h
• Src/bluetooth.cpp