Inheritance diagram for arpirobot::MotorController:

Public Member Functions
bool	isInverted ()

void	setInverted (bool inverted)

bool	isBrakeMode ()

void	setBrakeMode (bool brakeMode)

double	getSpeed ()

void	setSpeed (double speed)

Public Member Functions inherited from arpirobot::BaseDevice
virtual std::string	getDeviceName ()

bool	isLockedByAction (std::shared_ptr< Action > action=nullptr)
	Check if a given action locks the device. More...

bool	isLockedByAction (Action &action)
	Check if a given action locks the device. More...

Protected Member Functions
bool	isEnabled () override

bool	shouldMatchRobotState () override

bool	shouldDisableWithWatchdog () override

void	enable () override

void	disable () override

virtual void	run ()=0

Protected Member Functions inherited from arpirobot::BaseDevice
virtual void	begin ()=0

Protected Attributes
double	speed = 0

std::mutex	lock

bool	enabled = false

bool	brakeMode = false

int8_t	speedFactor = 1

Protected Attributes inherited from arpirobot::BaseDevice
bool	initialized = false

std::string	deviceName

Detailed Description

Base class for motor controllers.

Member Function Documentation

double arpirobot::MotorController::getSpeed ( )

Get the current speed of the motor

bool arpirobot::MotorController::isBrakeMode ( )

Check if brake mode is enabled. When enabled motors with a speed of zero will resist motion.

bool arpirobot::MotorController::isInverted ( )

Check if the motor direction is inverted (positive and negative speed switched)

void arpirobot::MotorController::setBrakeMode ( bool brakeMode )

Set if brake mode is enabled

Parameters

brakeMode true for enabled, false for disabled

void arpirobot::MotorController::setInverted ( bool inverted )

Set the motor direction to inverted or non-inverted (positive and negative speed switched)

Parameters

inverted True for inverted, false for non-inverted

void arpirobot::MotorController::setSpeed ( double speed )

Set the current speed of the motor (no effect if motor is disabled)

Parameters

speed The motor's speed (between -1.0 and 1.0)

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