Class rb::Motor

Public Types

Type	Name
typedef std::function< void(Motor &)>	callback_t

Public Functions

Type	Name
void	brake (uint16_t brakingPower) Start braking.
void	drive (int32_t positionRelative, int16_t speedTicksPerSecond, callback_t callback=nullptr) Drive motor to set position (according relative value).
void	driveToValue (int32_t positionAbsolute, int16_t speedTicksPerSecond, callback_t callback=nullptr) Drive motor to set position (according absolute value).
MotorId	id () const
int32_t	position () const
void	power (int16_t value) Set motor power.
void	pwmMaxPercent (int8_t percent) Limit the maximum PWM value. If you call pwmMaxPercent(70) and then power(100), the motors will spin at 70% of maximum speed. This scales both the power and speed set through Motor .
int8_t	pwmMaxPercent () const Get current maximum PWM percent value.
void	requestInfo (callback_t cb)
void	setConfig (const MotorConfig & cfg) Set configuration, see MotorConfig & STM32 firmware.
void	setCurrentPosition (int32_t pos=0) Set the encoder tick counter to some value.
void	speed (int16_t ticksPerSecond) Set motor speed.

Public Types Documentation

typedef callback_t

typedef std::function<void(Motor&)> rb::Motor::callback_t;

Public Functions Documentation

function brake

Start braking.

void rb::Motor::brake (
    uint16_t brakingPower
)

Parameters:

brakingPower braking power in <0, 32767>

function drive

void rb::Motor::drive (
    int32_t positionRelative,
    int16_t speedTicksPerSecond,
    callback_t callback=nullptr
)

function driveToValue

void rb::Motor::driveToValue (
    int32_t positionAbsolute,
    int16_t speedTicksPerSecond,
    callback_t callback=nullptr
)

function id

inline MotorId rb::Motor::id () const

function position

inline int32_t rb::Motor::position () const

function power

Set motor power.

void rb::Motor::power (
    int16_t value
)

Parameters:

power of the motor <-32768; 32767>

function pwmMaxPercent [1/2]

Limit the maximum PWM value. If you call pwmMaxPercent(70) and then power(100), the motors will spin at 70% of maximum speed. This scales both the power and speed set through Motor .

void rb::Motor::pwmMaxPercent (
    int8_t percent
)

Parameters:

pct of the max value <0 - 100>

function pwmMaxPercent [2/2]

inline int8_t rb::Motor::pwmMaxPercent () const

function requestInfo

void rb::Motor::requestInfo (
    callback_t cb
)

function setConfig

void rb::Motor::setConfig (
    const MotorConfig & cfg
)

function setCurrentPosition

void rb::Motor::setCurrentPosition (
    int32_t pos=0
)

function speed

Set motor speed.

void rb::Motor::speed (
    int16_t ticksPerSecond
)

Parameters:

ticksPerSecond speed of the motor <-32768; 32767>

The documentation for this class was generated from the following file demo-projets/esp/RBCXMotor.h