Passer::RoboidControl::Motor Class Reference

A Motor is a Thing which can move parts of the Roboid. More...

#include <Motor.h>

Inheritance diagram for Passer::RoboidControl::Motor:

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

Public Member Functions
	Motor ()
	Default constructor for the Motor.
virtual void	SetTargetSpeed (float speed)
	Set the target motor speed.
virtual float	GetTargetSpeed ()
	Get the current target speed of the motor.
virtual float	GetActualSpeed ()
	Get the current actual speed of the motor.
virtual void	Update (float currentTimeMs)
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)

Public Attributes
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
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 is a Thing which can move parts of the Roboid.

Note

Currently only rotational motors are supported

Member Enumeration Documentation

Direction

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

strong

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

Motor()

Motor::Motor

(

)

Default constructor for the Motor.

Member Function Documentation

SetTargetSpeed()

void Motor::SetTargetSpeed ( float  speed )

virtual

Set the target motor speed.

Parameters

speed

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

Reimplemented in Passer::RoboidControl::ControlledMotor, and Passer::RoboidControl::SynchronizedMotors.

GetTargetSpeed()

float Motor::GetTargetSpeed ( )

virtual

Get the current target speed of the motor.

Returns

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

GetActualSpeed()

float Motor::GetActualSpeed ( )

virtual

Get the current actual speed of the motor.

Returns

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

Reimplemented in Passer::RoboidControl::ControlledMotor.

Update()

void Motor::Update ( float  currentTimeMs )

virtual

Reimplemented in Passer::RoboidControl::ControlledMotor.

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

direction

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

The forward turning direction of the motor.

currentTargetSpeed

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

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