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Dear legOSers,
I have written a set of c++ classes for manipulating sensors and motors
within legOS. The classes include:
A) Sensor, a base class for accessing sensors
B) LightSensor, derived from Sensor, but uses the LIGHT function to get values
C) RotationSensor, derived from Sensor, with additional methods for turning
on/off rotation sensing, and setting the current absolute position
D) TouchSensor, which is equivalent to Sensor, but is defined for symmetry to
Sensor
E) Battery, is analogous to Sensor, and is defined for symmetry to Sensor
F) Motor, a class for manipulating motors
G) MotorPair, a class for manipulating two motors in a rover configuration
A tar file with the above classes is available at
http://kayak.physics.orst.edu/legOS/c++.tar.gz
which contains all the above classes in include/c++ and associated demos in
demo/c++.
I have tested everything, except for the RotationSensor, which I don't have
yet.
On a design note, I am not using virtual classes, since this increases the
memory footprint by ~600-1000 bytes per class instance. Instead, I have used
concrete derived classes, which increase the memory footprint by ~200-300 bytes
for the first instance, and ~50 bytes for each additional instance.
I also have a set of patches against the 5-Sep-00 legOS cvs source tree. The
patches include:
a) Use $@, $<, and $+ in many of the Makefiles instead of $*.o, $*.c, ...
b) Added support for c++ source file suffix of .C
(Note, my standard convention is for c++ files to have a suffix of .C and
c++ header files to have a suffix of .H, but if you all feel this not
desirable, let me know, and I will adopt the .cpp and .h convention
currently used within legOS.)
c) Added the function, __pure_virtual(), in lib/c++/stub.c to support pure
virtual classes.
The patches are available at
http://kayak.physics.orst.edu/legOS/patches.gz
which is a cvs diff output.
Both files are relative to the legOS root directory.
Please let me know any comments you have on this work, and if you feel it would
be worthwhile to include as part of legOS.
Pat
legOS@mousebrains.com
P.S. This code all compiles cleanly under gcc 2.95.2, I don't think I'm doing
anything that will break under egcs, but I have not tested that.
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Message has 1 Reply:
 | | Re: c++ classes
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| Hey, everybody. I'm going to try to patch and build this this weekend. (ADSL line goes in today, so it becomes suddenly more feasible to build and test with gcc 2.95.) However, if anyone else has already done that, and can test these (particularly (...) (24 years ago, 8-Sep-00, to lugnet.robotics.rcx.legos)
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