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Navigador - Library Reference

The Navigador library consists of a single class named Navigador and several supporting structures and enumerations. The class provides methods for controlling the movement of a mobile robot, defining movement paths, and managing the robot's behavior.

Navigador Class

The Navigador class is the main class of the library, representing a mobile robot or vehicle. It provides methods for controlling the robot's movement and defining movement paths.

Navigador Constructor

Navigador(uint16_t motor_1a, uint16_t motor_1b, uint16_t motor_2a, uint16_t motor_2b)
  • Description: Constructs a new instance of the Navigador class.
  • Parameters:
    • motor_1a: The Arduino pin number connected to motor 1A.
    • motor_1b: The Arduino pin number connected to motor 1B.
    • motor_2a: The Arduino pin number connected to motor 2A.
    • motor_2b: The Arduino pin number connected to motor 2B.

Methods

void forward()

Description: Moves the robot forward.

void backward()

Description: Moves the robot backward.

void left()

Description: Turns the robot to the left.

void right()

Description: Turns the robot to the right.

void forward(unsigned long travel_duration)
  • Description: Moves the robot forward for a specified duration.
  • Parameters:
    • travel_duration: The duration in milliseconds for which the robot should move forward.
void backward(unsigned long travel_duration)
  • Description: Moves the robot backward for a specified duration.
  • Parameters:
    • travel_duration: The duration in milliseconds for which the robot should move backward.
void left(unsigned long travel_duration)
  • Description: Turns the robot to the left for a specified duration.
  • Parameters:
    • travel_duration: The duration in milliseconds for which the robot should turn left.
void right(unsigned long travel_duration)
  • Description: Turns the robot to the right for a specified duration.
  • Parameters:
    • travel_duration: The duration in milliseconds for which the robot should turn right.
void add_path(NavigadorPath path)
  • Description: Adds a path to the list of predefined paths for the robot to follow.
  • Parameters:
    • path: A NavigadorPath structure representing the path to be added.
void remove_path(NavigadorPath path)
  • Description: Removes a path from the list of predefined paths.
  • Parameters:
    • path: A NavigadorPath structure representing the path to be removed.
void follow_path()
  • Description: Makes the robot follow the predefined paths sequentially.
void clear_path()
  • Description: Clears the list of predefined paths.
void stop()
  • Description: Stops the robot's movement.

NavigadorDirection Enumeration

The NavigadorDirection enumeration defines the possible directions of movement for the robot. It is used in the NavigadorPath structure.

enum NavigadorDirection {
    NAVIGADOR_FORWARD_DIRECTION,
    NAVIGADOR_BACKWARD_DIRECTION,
    NAVIGADOR_LEFT_DIRECTION,
    NAVIGADOR_RIGHT_DIRECTION,
};
  • NAVIGADOR_FORWARD_DIRECTION: Indicates forward movement.
  • NAVIGADOR_BACKWARD_DIRECTION: Indicates backward movement.
  • NAVIGADOR_LEFT_DIRECTION: Indicates left turn.
  • NAVIGADOR_RIGHT_DIRECTION: Indicates right turn.

NavigadorPathStruct Structure

The NavigadorPathStruct structure represents a movement path for the robot. It contains information about the direction of movement and the duration of travel.

struct NavigadorPathStruct {
    uint8_t direction;
    unsigned long travel_duration;
};
  • direction: An integer representing the direction of movement (see NavigadorDirection enumeration).
  • travel_duration: The duration in milliseconds for which the robot should travel in the specified direction.

Note: It is recommended to use the typedef NavigadorPath instead of directly using the NavigadorPathStruct structure.