Passer::RoboidControl::ControlledMotor Class Reference

A motor with speed control It uses a feedback loop from an encoder to regulate the speed The speed is measured in revolutions per second. More...

#include <ControlledMotor.h>

Inheritance diagram for Passer::RoboidControl::ControlledMotor:

Public Types
enum class	Direction { Clockwise = 1 , CounterClockwise = -1 }
	Motor turning direction. More...

Public Member Functions
	ControlledMotor ()
	ControlledMotor (Motor *motor, Encoder *encoder)
void	Update (float currentTimeMs) override
virtual void	SetTargetSpeed (float speed) override
	Set the target speed for the motor controller.
virtual float	GetActualSpeed () override
	Get the actual speed from the encoder.
bool	Drive (float distance)
virtual float	GetTargetSpeed ()
	Get the current target speed of the motor.
bool	IsMotor ()
	Check if the Thing is a Motor.
bool	IsSensor ()
	Check if the Thing is a Sensor.
void	SetParent (Thing *parent)
Thing *	GetParent ()
void	AddChild (Thing *child)
Thing *	GetChild (unsigned char childIx)

Static Public Member Functions
static bool	CheckType (Thing *thing)

Public Attributes
float	velocity
float	pidP = 0.1F
float	pidD = 0.0F
float	pidI = 0.0F
Motor *	motor
Encoder *	encoder
Direction	direction = Direction::Clockwise
	The forward turning direction of the motor.
float	currentTargetSpeed = 0
unsigned int	type
	The type of Thing.
Polar	position

Static Public Attributes
static const unsigned int	SwitchType = SensorType | (unsigned int)Type::Switch
	The type of a switch sensor.
static const unsigned int	DistanceSensorType
	The type of a distance sensor.
static const unsigned int	ControlledMotorType
	The type of a controlled motor.
static const unsigned int	UncontrolledMotorType
	The type of an uncontrolled motor.
static const unsigned int	ServoType = (unsigned int)Type::Servo
	The type of an object received from the network.
static const unsigned int	ExternalType = (unsigned int)Type::ExternalSensor

Protected Types
enum class	Type {   Undetermined , Switch , DistanceSensor , ControlledMotor ,   UncontrolledMotor , Servo , ExternalSensor }
	Basic Thing types. More...

Protected Attributes
float	lastUpdateTime = 0
float	lastError = 0
float	actualSpeed
float	netDistance = 0
float	startDistance = 0
bool	driving = false
float	targetDistance = 0
float	lastEncoderPosition = 0
Thing *	parent = nullptr
unsigned char	childCount = 0
Thing **	children = nullptr

Static Protected Attributes
static const unsigned int	MotorType = 0x8000
	Bitmask for Motor type.
static const unsigned int	SensorType = 0x4000
	Bitmap for Sensor type.

Detailed Description

A motor with speed control It uses a feedback loop from an encoder to regulate the speed The speed is measured in revolutions per second.

Member Enumeration Documentation

Direction

enum class Passer::RoboidControl::Motor::Direction

stronginherited

Motor turning direction.

Enumerator
Clockwise
CounterClockwise

Type

enum class Passer::RoboidControl::Thing::Type

strongprotectedinherited

Basic Thing types.

Enumerator
Undetermined
Switch
DistanceSensor
ControlledMotor
UncontrolledMotor
Servo
ExternalSensor

Constructor & Destructor Documentation

ControlledMotor() [1/2]

ControlledMotor::ControlledMotor

(

)

ControlledMotor() [2/2]

ControlledMotor::ControlledMotor	(	Motor *	motor,
		Encoder *	encoder
	)

Member Function Documentation

CheckType()

static bool Passer::RoboidControl::ControlledMotor::CheckType ( Thing *  thing )

inlinestatic

Update()

void ControlledMotor::Update ( float  currentTimeMs )

overridevirtual

Reimplemented from Passer::RoboidControl::Motor.

SetTargetSpeed()

void ControlledMotor::SetTargetSpeed ( float  speed )

overridevirtual

Set the target speed for the motor controller.

Parameters

speed

the target in revolutions per second.

Reimplemented from Passer::RoboidControl::Motor.

GetActualSpeed()

float ControlledMotor::GetActualSpeed ( )

overridevirtual

Get the actual speed from the encoder.

Returns

The speed in revolutions per second

Reimplemented from Passer::RoboidControl::Motor.

Drive()

bool ControlledMotor::Drive

(

float

distance

)

GetTargetSpeed()

float Motor::GetTargetSpeed ( )

virtualinherited

Get the current target speed of the motor.

Returns

The speed between -1 (full backward), 0 (stop) and 1 (full forward)

IsMotor()

bool Thing::IsMotor ( )

inherited

Check if the Thing is a Motor.

Returns

True when the Thing is a Motor and False otherwise

IsSensor()

bool Thing::IsSensor ( )

inherited

Check if the Thing is a Sensor.

Returns

True when the Thing is a Sensor and False otherwise

SetParent()

void Thing::SetParent ( Thing *  parent )

inherited

GetParent()

Thing * Thing::GetParent ( )

inherited

AddChild()

void Thing::AddChild ( Thing *  child )

inherited

GetChild()

Thing * Thing::GetChild ( unsigned char  childIx )

inherited

Member Data Documentation

velocity

float Passer::RoboidControl::ControlledMotor::velocity

pidP

float Passer::RoboidControl::ControlledMotor::pidP = 0.1F

pidD

float Passer::RoboidControl::ControlledMotor::pidD = 0.0F

pidI

float Passer::RoboidControl::ControlledMotor::pidI = 0.0F

motor

Motor* Passer::RoboidControl::ControlledMotor::motor

encoder

Encoder* Passer::RoboidControl::ControlledMotor::encoder

lastUpdateTime

float Passer::RoboidControl::ControlledMotor::lastUpdateTime = 0

protected

lastError

float Passer::RoboidControl::ControlledMotor::lastError = 0

protected

actualSpeed

float Passer::RoboidControl::ControlledMotor::actualSpeed

protected

netDistance

float Passer::RoboidControl::ControlledMotor::netDistance = 0

protected

startDistance

float Passer::RoboidControl::ControlledMotor::startDistance = 0

protected

driving

bool Passer::RoboidControl::ControlledMotor::driving = false

protected

targetDistance

float Passer::RoboidControl::ControlledMotor::targetDistance = 0

protected

lastEncoderPosition

float Passer::RoboidControl::ControlledMotor::lastEncoderPosition = 0

protected

direction

Direction Passer::RoboidControl::Motor::direction = Direction::Clockwise

inherited

The forward turning direction of the motor.

currentTargetSpeed

float Passer::RoboidControl::Motor::currentTargetSpeed = 0

inherited

type

unsigned int Passer::RoboidControl::Thing::type

inherited

The type of Thing.

SwitchType

const unsigned int Thing::SwitchType = SensorType | (unsigned int)Type::Switch

staticinherited

The type of a switch sensor.

DistanceSensorType

const unsigned int Thing::DistanceSensorType

staticinherited

Initial value:

=
    SensorType | (unsigned int)Type::DistanceSensor

The type of a distance sensor.

ControlledMotorType

const unsigned int Thing::ControlledMotorType

staticinherited

Initial value:

=
    MotorType | (unsigned int)Type::ControlledMotor

The type of a controlled motor.

UncontrolledMotorType

const unsigned int Thing::UncontrolledMotorType

staticinherited

Initial value:

=
    MotorType | (unsigned int)Type::UncontrolledMotor

The type of an uncontrolled motor.

ServoType

const unsigned int Thing::ServoType = (unsigned int)Type::Servo

staticinherited

The type of an object received from the network.

ExternalType

const unsigned int Thing::ExternalType = (unsigned int)Type::ExternalSensor

staticinherited

position

Polar Passer::RoboidControl::Thing::position

inherited

MotorType

const unsigned int Passer::RoboidControl::Thing::MotorType = 0x8000

staticprotectedinherited

Bitmask for Motor type.

SensorType

const unsigned int Passer::RoboidControl::Thing::SensorType = 0x4000

staticprotectedinherited

Bitmap for Sensor type.

parent

Thing* Passer::RoboidControl::Thing::parent = nullptr

protectedinherited

childCount

unsigned char Passer::RoboidControl::Thing::childCount = 0

protectedinherited

children

Thing** Passer::RoboidControl::Thing::children = nullptr

protectedinherited

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

• d:/PlatformIO/RoboidControl/ControlledMotor.h
• d:/PlatformIO/RoboidControl/ControlledMotor.cpp