Small improvements

Examples/BB2B.cpp

@@ -6,6 +6,8 @@
 #include <thread>
 
 using namespace RoboidControl;
+using namespace std::this_thread;
+using namespace std::chrono;
 
 int main() {
   // The robot's propulsion is a differential drive
@@ -19,21 +21,19 @@ int main() {
   while (true) {
     // The left wheel turns forward when nothing is touched on the right side
     // and turn backward when the roboid hits something on the right
-    float leftWheelSpeed = (touchRight->touchedSomething) ? -0.5f : 0.5f;
+    float leftWheelSpeed = (touchRight->touchedSomething) ? -600.0f : 600.0f;
     // The right wheel does the same, but instead is controlled by
     // touches on the left side
-    float rightWheelSpeed = (touchLeft->touchedSomething) ? -0.5f : 0.5f;
+    float rightWheelSpeed = (touchLeft->touchedSomething) ? -600.0f : 600.0f;
     // When both sides are touching something, both wheels will turn backward
     // and the roboid will move backwards
     bb2b->SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
 
     // Update the roboid state
-    Thing::UpdateThings(Thing::GetTimeMs());
-    // would like to do this:
-    // bb2b->Update();
+    bb2b->Update(true);
 
     // and sleep for 100ms
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    sleep_for(milliseconds(100));
   }
 
   return 0;

Thing.cpp

@@ -175,20 +175,24 @@ unsigned long Thing::GetTimeMs() {
   return static_cast<unsigned long>(ms.count());
 }
 
-void Thing::Update() {
+void Thing::Update(bool recursive) {
 #if defined(ARDUINO)
   Update(millis());
 #else
-  Update(GetTimeMs());
+  Update(GetTimeMs(), recursive);
 #endif
 }
 
-void Thing::Update(unsigned long currentTimeMs) {
+void Thing::Update(unsigned long currentTimeMs, bool recursive) {
   (void)currentTimeMs;
-
-  // PoseMsg* poseMsg = new PoseMsg(this->networkId, this);
-  // participant->Send(remoteParticipant, poseMsg);
-  // delete poseMsg;
+  if (recursive) {
+    for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
+      Thing* child = this->children[childIx];
+      if (child == nullptr)
+        continue;
+      child->Update(currentTimeMs, recursive);
+    }
+  }
 }
 
 void Thing::UpdateThings(unsigned long currentTimeMs) {

Thing.h

@@ -178,12 +178,11 @@ class Thing {
 
   static unsigned long GetTimeMs();
 
-  void Update();
+  void Update(bool recursive = false);
 
   /// @brief Updates the state of the thing
   /// @param currentTimeMs The current clock time in milliseconds
-  virtual void Update(
-      unsigned long currentTimeMs);  // { (void)currentTimeMs; };
+  virtual void Update(unsigned long currentTimeMs, bool recursive = false);
 
   static void UpdateThings(unsigned long currentTimeMs);
 

Things/DifferentialDrive.cpp

@@ -6,8 +6,8 @@ DifferentialDrive::DifferentialDrive() : Thing() {}
 RoboidControl::DifferentialDrive::DifferentialDrive(Participant* participant)
     : Thing(participant) {}
 
-void DifferentialDrive::SetDimensions(float wheelDiameter,
-                                      float wheelSeparation) {
+void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
+                                           float wheelSeparation) {
   this->wheelRadius =
       wheelDiameter > 0 ? wheelDiameter / 2 : -wheelDiameter / 2;
   this->wheelSeparation =
@@ -40,7 +40,7 @@ void DifferentialDrive::SetWheelVelocity(float speedLeft, float speedRight) {
         Spherical(speedRight, Direction::right));
 }
 
-void DifferentialDrive::Update(unsigned long currentMs) {
+void DifferentialDrive::Update(unsigned long currentMs, bool recursive) {
   if (this->linearVelocityUpdated == false)
     return;
   // this assumes forward velocity only....
@@ -61,7 +61,7 @@ void DifferentialDrive::Update(unsigned long currentMs) {
       this->wheelRadius * Rad2Deg;
 
   this->SetWheelVelocity(speedLeft, speedRight);
-
+  Thing::Update(currentMs, recursive);
   // std::cout << "lin. speed " << linearVelocity << "   ang. speed " <<
   // angularVelocity.distance << "   left wheel  "
   //         << speedLeft << "   right wheel " << speedRight << "\n";

Things/DifferentialDrive.h

@@ -5,17 +5,39 @@
 namespace RoboidControl {
 
 /// @brief A thing which can move itself using a differential drive system
+///
+/// @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
 class DifferentialDrive : public Thing {
  public:
+  /// @brief Create a differential drive without networking support
   DifferentialDrive();
+  /// @brief Create a differential drive with networking support
+  /// @param participant The local participant
   DifferentialDrive(Participant* participant);
 
-  void SetDimensions(float wheelDiameter, float wheelSeparation);
+  /// @brief Configures the dimensions of the drive
+  /// @param wheelDiameter The diameter of the wheels in meters
+  /// @param wheelSeparation The distance between the wheels in meters
+  ///
+  /// These values are used to compute the desired wheel speed from the set
+  /// linear and angular velocity.
+  /// @sa SetLinearVelocity SetAngularVelocity
+  void SetDriveDimensions(float wheelDiameter, float wheelSeparation);
+  /// @brief Congures the motors for the wheels
+  /// @param leftWheel The motor for the left wheel
+  /// @param rightWheel The motor for the right wheel
   void SetMotors(Thing* leftWheel, Thing* rightWheel);
 
+  /// @brief Directly specify the speeds of the motors
+  /// @param speedLeft The speed of the left wheel in degrees per second.
+  /// Positive moves the robot in the forward direction.
+  /// @param speedRight The speed of the right wheel in degrees per second.
+  /// Positive moves the robot in the forward direction.
+
   void SetWheelVelocity(float speedLeft, float speedRight);
 
-  virtual void Update(unsigned long currentMs) override;
+  /// @copydoc RoboidControl::Thing::Update(unsigned long)
+  virtual void Update(unsigned long currentMs, bool recursive = true) override;
 
  protected:
   /// @brief The radius of a wheel in meters
@@ -26,7 +48,9 @@ class DifferentialDrive : public Thing {
   /// @brief Convert revolutions per second to meters per second
   float rpsToMs = 1.0f;
 
+  /// @brief The left wheel
   Thing* leftWheel = nullptr;
+  /// @brief The right wheel
   Thing* rightWheel = nullptr;
 };