A motor object that is associated with a physical motor port. More...

#include <motors.hpp>

Public Member Functions
	Motor (const port_t &port) throw ()

void	clearPositionCounter ()

void	moveAtVelocity (const short &velocity)

void	moveToPosition (const short &speed, const int &goalPos)

void	moveRelativePosition (const short &speed, const int &deltaPos)

void	setPidGains (const short &p, const short &i, const short &d, const short &pd, const short &id, const short &dd)

void	pidGains (short &p, short &i, short &d, short &pd, short &id, short &dd) const

void	freeze ()

bool	isMotorDone () const

void	blockMotorDone () const

void	forward ()

void	backward ()

void	motor (int percent)

void	off ()

const port_t &	port () const

Detailed Description

A motor object that is associated with a physical motor port.

Allows both PWM and PID control of a motor.

Constructor & Destructor Documentation

Creates a new motor object associated with a given physical port.

Parameters

port	the port this motor will communicate with.

void Motor::backward ( )

Move the motor backward at full speed using PWM control.

void Motor::blockMotorDone ( ) const

Waits until the motor has reached its target position.

void Motor::clearPositionCounter ( )

void Motor::forward ( )

Move the motor forward at full speed using PWM control.

void Motor::freeze ( )

bool Motor::isMotorDone ( ) const

void Motor::motor ( int percent )

Move the motor at a given percentage of power using PWM control.

Parameters

percent The speed to move the motor at, in percentage. Should be between -100% and 100%

void Motor::moveAtVelocity ( const short & velocity )

void Motor::moveRelativePosition	(	const short &	speed,
		const int &	deltaPos
	)

void Motor::off ( )

Turns the motor off.

const port_t& Motor::port ( ) const

The pyhsical port this motor is associated with.

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