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	SetSpeed (float speed)
	Set the target motor speed.
virtual float	GetSpeed ()
	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.

Public Attributes
Direction	direction = Direction::Clockwise
	The forward turning direction of the motor.
unsigned int	type
	The type of Thing.

Static Public Attributes
static const unsigned int	SwitchType = SensorType | (unsigned int)Type::Switch
static const unsigned int	DistanceSensorType
static const unsigned int	ControlledMotorType
static const unsigned int	UncontrolledMotorType

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

Protected Attributes
float	currentTargetSpeed = 0

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

Constructor & Destructor Documentation

Motor()

Motor::Motor

(

)

Default constructor for the Motor.

Member Function Documentation

SetSpeed()

void Motor::SetSpeed ( 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::TB6612Motor, and Passer::RoboidControl::DRV8833Motor.

GetSpeed()

float Motor::GetSpeed ( )

virtual

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

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

protected

type

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

inherited

The type of Thing.

SwitchType

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

staticinherited

DistanceSensorType

const unsigned int Thing::DistanceSensorType

staticinherited

Initial value:

=
    SensorType | (unsigned int)Type::DistanceSensor

ControlledMotorType

const unsigned int Thing::ControlledMotorType

staticinherited

Initial value:

=
    MotorType | (unsigned int)Type::ControlledMotor

UncontrolledMotorType

const unsigned int Thing::UncontrolledMotorType

staticinherited

Initial value:

=
    MotorType | (unsigned int)Type::UncontrolledMotor

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.

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

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