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BatteryMonitorBehavior Class Reference#include <BatteryMonitorBehavior.h>
Inheritance diagram for BatteryMonitorBehavior:
![]() Detailed DescriptionA background behavior which will monitor the power level and flip the ears when appropriate on a 210, or blink the headlight if a 220.Think of this as a simple example class. For exercise, try using a MotionSequenceMC instead of switching the ears back manually using a PostureMC Definition at line 21 of file BatteryMonitorBehavior.h.
Constructor & Destructor Documentation
don't copy behaviors
Member Function Documentation
Listens for the PowerSrcID::LowPowerWarnSID.
Reimplemented from BehaviorBase. Definition at line 33 of file BatteryMonitorBehavior.h.
Stops listening for events.
Reimplemented from BehaviorBase. Definition at line 44 of file BatteryMonitorBehavior.h.
Adds a BatteryMonitorMC to motman if power goes low.
Reimplemented from BehaviorBase. Definition at line 51 of file BatteryMonitorBehavior.h. Referenced by DoStart().
Gives a short description of what this class of behaviors does... you should override this (but don't have to). If you do override this, also consider overriding getDescription() to return it Reimplemented from BehaviorBase. Definition at line 97 of file BatteryMonitorBehavior.h. Referenced by getDescription().
Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis). By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!) This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so. Reimplemented from BehaviorBase. Definition at line 98 of file BatteryMonitorBehavior.h.
returns true if the warning should be active (power remaining less than high_power_p, no external power, but also checks that a power update has been received)
Definition at line 101 of file BatteryMonitorBehavior.h. Referenced by DoStart(), and processEvent().
adds a pose and a timer to get the ears flipping
Definition at line 105 of file BatteryMonitorBehavior.h. Referenced by processEvent().
removes pose, in case battery magically charges
Definition at line 116 of file BatteryMonitorBehavior.h. Referenced by DoStop(), and processEvent().
makes the ears flip more rapidly as power declines. Flips back and forth once every 15 seconds at 15%, down to flipping constantly at 5%.
Definition at line 126 of file BatteryMonitorBehavior.h. Referenced by processEvent().
sets the ears on a 210 & 7 or the headlight on a 220 - true toggles current, false clears
Definition at line 135 of file BatteryMonitorBehavior.h. Referenced by processEvent(), and startWarning().
don't assign behaviors
Member Data Documentation
max time between ear flips when at "high power" mark
Definition at line 23 of file BatteryMonitorBehavior.h. Referenced by calcFlipDelay().
percent of 100 which is point at which to begin warning
Definition at line 24 of file BatteryMonitorBehavior.h. Referenced by calcFlipDelay(), and shouldWarn().
percent of 100 at which power will fail (approximate!)
Definition at line 25 of file BatteryMonitorBehavior.h. Referenced by calcFlipDelay().
if we are currently warning of low battery, holds a pose, NULL otherwise
Definition at line 149 of file BatteryMonitorBehavior.h. Referenced by DoStop(), processEvent(), setFlipper(), startWarning(), and stopWarning().
id of pose if we are currently warning, MotionManager::invalid_MC_ID otherwise
Definition at line 150 of file BatteryMonitorBehavior.h. Referenced by startWarning(), and stopWarning().
id of LedMC if we are currently warning, MotionManager::invalid_MC_ID otherwise
Definition at line 151 of file BatteryMonitorBehavior.h. Referenced by processEvent(), startWarning(), and stopWarning().
The documentation for this class was generated from the following file: |
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