trikControl::ServoMotor Class Reference

TRIK servomotor. More...

#include <servoMotor.h>

Inheritance diagram for trikControl::ServoMotor:

Collaboration diagram for trikControl::ServoMotor:

Public Slots
int	power () const override
int	frequency () const
	Returns currently set frequency of PWM signal supplied to the motor. More...
int	duty () const
	Returns currently set duty of PWM signal supplied to the motor. More...
void	powerOff () override
void	setPower (int power, bool constrain=true) override
	For angular servos sets current motor angle to specified value. More...
void	brake (int=0) override
void	setPeriod (int uSec=20000) override
Public Slots inherited from trikControl::MotorInterface
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
	ServoMotor (const QString &port, const trikKernel::Configurer &configurer, const trikHal::HardwareAbstractionInterface &hardwareAbstraction)
	Constructor. More...
	~ServoMotor () override
Status	status () const override
	Returns current status of the device. More...
int	minControl () const override
	Returns minimal value of control accepted by a motor (-90..90, 0..100, for example). More...
int	maxControl () const override
	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

Additional Inherited Members
Public Types inherited from trikControl::MotorInterface
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...
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

TRIK servomotor.

Constructor & Destructor Documentation

ServoMotor::ServoMotor	(	const QString &	port,
		const trikKernel::Configurer &	configurer,
		const trikHal::HardwareAbstractionInterface &	hardwareAbstraction
	)

Constructor.

Parameters

port	- port on which this motor is configured.
configurer	- configurer object containing preparsed XML files with motor parameters.

ServoMotor::~ServoMotor ( )

override

Member Function Documentation

void trikControl::ServoMotor::brake ( int  = 0 )

inlineoverrideslot

Makes no sense, neither for angular servo nor for rotational

int ServoMotor::duty ( ) const

slot

Returns currently set duty of PWM signal supplied to the motor.

int ServoMotor::frequency ( ) const

slot

Returns currently set frequency of PWM signal supplied to the motor.

int ServoMotor::maxControl ( ) const

overridevirtual

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

Implements trikControl::MotorInterface.

int ServoMotor::minControl ( ) const

overridevirtual

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

Implements trikControl::MotorInterface.

int ServoMotor::power ( ) const

overrideslot

void ServoMotor::powerOff ( )

overrideslot

void ServoMotor::setPeriod ( int  uSec = 20000 )

overrideslot

void ServoMotor::setPower ( int  power, bool  constrain = true  )

overrideslot

For angular servos sets current motor angle to specified value.

For continious rotation servos sets power of a motor.

Parameters

power	- for angular servos — servo shaft angle, allowed values are from -90 to 90, for continious rotation servos — power, allowed values are from -100 to 100.
constrain	- if true, power will be constrained in an interval [-100, 100], if false, "power" value will be sent to a motor unaltered.

ServoMotor::Status ServoMotor::status ( ) const

overridevirtual

Returns current status of the device.

Implements trikControl::DeviceInterface.

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

• trikControl/src/servoMotor.h
• trikControl/src/servoMotor.cpp