trikControl::MotorInterface Class Reference

Abstract motor. It is differently implemented by different motor types (like servo and power motors). More...

#include <motorInterface.h>

Inheritance diagram for trikControl::MotorInterface:

Collaboration diagram for trikControl::MotorInterface:

Public Types
enum	Type { Type::powerMotor, Type::servoMotor }
Public Types inherited from trikControl::DeviceInterface
enum	Status {   Status::permanentFailure, Status::temporaryFailure, Status::off, Status::starting,   Status::ready, Status::stopping }
	Device status. More...

Public Slots
virtual void	setPower (int power, bool constrain=true)=0
	Sets current motor power to specified value, 0 to stop motor. More...
virtual int	power () const =0
	Returns currently set power of a motor. More...
virtual void	powerOff ()=0
	Turns off motor. More...
virtual void	brake (int durationMs=500)=0
	Force brake state for durationMs and then powerOff() More...
virtual void	setPeriod (int uSec=20000)=0
	Set period for PWM generator. More...

Public Member Functions
virtual int	minControl () const =0
	Returns minimal value of control accepted by a motor (-90..90, 0..100, for example). More...
virtual int	maxControl () const =0
	Returns maximal value of control accepted by a motor (-90..90, 0..100, for example). More...
Public Member Functions inherited from trikControl::DeviceInterface
	DeviceInterface ()=default
virtual	~DeviceInterface ()=default
virtual Status	status () const =0
	Returns current status of the device. More...

Additional Inherited Members
Static Public Member Functions inherited from trikControl::DeviceInterface
static Status	combine (const DeviceInterface &underlying, const DeviceInterface::Status &dependent)
	Helper method to return status of a device relying on other device to work. More...

Detailed Description

Abstract motor. It is differently implemented by different motor types (like servo and power motors).

Member Enumeration Documentation

enum trikControl::MotorInterface::Type

strong

Enumerator
powerMotor
servoMotor

Member Function Documentation

virtual void trikControl::MotorInterface::brake ( int  durationMs = 500 )

pure virtualslot

Force brake state for durationMs and then powerOff()

virtual int trikControl::MotorInterface::maxControl ( ) const

pure virtual

Returns maximal value of control accepted by a motor (-90..90, 0..100, for example).

Implemented in trikControl::ServoMotor, and trikControl::PowerMotor.

virtual int trikControl::MotorInterface::minControl ( ) const

pure virtual

Returns minimal value of control accepted by a motor (-90..90, 0..100, for example).

Implemented in trikControl::ServoMotor, and trikControl::PowerMotor.

virtual int trikControl::MotorInterface::power ( ) const

pure virtualslot

Returns currently set power of a motor.

virtual void trikControl::MotorInterface::powerOff ( )

pure virtualslot

Turns off motor.

This is not the same as setPower(0), because setPower can leave motor on in a break mode, and this method will turn motor off.

virtual void trikControl::MotorInterface::setPeriod ( int  uSec = 20000 )

pure virtualslot

Set period for PWM generator.

Parameters

uSec	- microseconds

virtual void trikControl::MotorInterface::setPower ( int  power, bool  constrain = true  )

pure virtualslot

Sets current motor power to specified value, 0 to stop motor.

Parameters

power	- power of a motor, from -100 (full reverse) to 100 (full forward), 0 — break.
constrain	- if true, power will be constrained in an interval [-100, 100], if false, "power" value will be sent to a motor unaltered.

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

• trikControl/include/trikControl/motorInterface.h