Class Motor. API for working with motor. More...

#include <ev3cxx_motor.h>

Inheritance diagram for Motor:

Public Member Functions
	Motor (MotorPort port, MotorType type=MotorType::LARGE)
	Constructor of class motor. More...

	~Motor ()
	Destructor of class motor. More...

void	off (bool brake=true)
	Stop motor. More...

void	on (int power=50)
	Set speed on regulated motor. More...

void	unregulated (int power=50)
	Set power on unregulated motor. [TODO: fix - same behavior as on() -> problem in EV3RT]. More...

void	onForDegrees (int speed=50, int degrees=360, bool_t brake=true, bool_t blocking=true, unsigned int wait_after_ms=60)
	Set number of degrees to rotate with regulated motor. More...

void	onForRotations (int speed=50, float rotations=1, bool_t brake=true, bool_t blocking=true, unsigned int wait_after_ms=60)
	Set number of rotation to rotate with regulated motor. More...

void	onForSeconds (int speed=50, unsigned int time_ms=1000, bool_t brake=true)
	Rotates the motor for a given time. More...

int	degrees () const
	Get the actual position of a motor in degrees. More...

float	rotations () const
	Get the actual position of a motor in rotations. More...

int	currentPower () const
	Get the actual power (equivalent with speed) of a motor. [TODO: power/speed]. More...

void	resetPosition ()
	Reset the angular position of the motor to zero. More...

motor_port_t	getPort () const
	Get motor port. More...

ER_UINT	getType () const
	Get curent type of motor which is set in EV3RT (not set by constructor). More...

Private Attributes
motor_port_t	m_port

motor_type_t	m_type

Additional Inherited Members
Static Public Attributes inherited from MotorConstants
static const int	POWER_MAX = 100
	Max power on motor.

static const int	POWER_MIN = -100
	Min power on motor.

static constexpr float	NUMBER_OF_DEGREES_PER_ROTATION = 360.0

Detailed Description

Class Motor. API for working with motor.

Definition at line 47 of file ev3cxx_motor.h.

Constructor & Destructor Documentation

◆ Motor()

Motor	(	MotorPort	port,
		MotorType	type = `MotorType::LARGE`
	)

inline

Constructor of class motor.

Parameters

port	Port number
type	Type of port: motor_type_t

Definition at line 58 of file ev3cxx_motor.h.

     : m_port(static_cast<motor_port_t>(port)), 
       m_type(static_cast<motor_type_t>(type)) 
     {
         ev3_motor_config(m_port, m_type);
     }

◆ ~Motor()

~Motor ( )

inline

Destructor of class motor.

Turns off the motor and lefts it coasts.

Definition at line 70 of file ev3cxx_motor.h.

References Motor::off().

              {
         Motor::off(false);
     }

Member Function Documentation

◆ currentPower()

int currentPower ( ) const

inline

Get the actual power (equivalent with speed) of a motor. [TODO: power/speed].

When an incorrect motor port number is specified, it always returns 0.

Returns: Motor power

Definition at line 195 of file ev3cxx_motor.h.

195 { return ev3_motor_get_power(m_port); }

◆ degrees()

int degrees ( ) const

inline

Get the actual position of a motor in degrees.

When an incorrect motor port number is specified, it always returns 0.

Returns: Motor position in degrees.

Definition at line 177 of file ev3cxx_motor.h.

177 { return ev3_motor_get_counts(m_port); }

◆ getPort()

motor_port_t getPort ( ) const

inline

Get motor port.

Returns: Return const motor port.

Definition at line 209 of file ev3cxx_motor.h.

209 { return m_port; }

◆ getType()

ER_UINT getType ( ) const

inline

Get curent type of motor which is set in EV3RT (not set by constructor).

Returns: Return const motor type or error.

Return values

>=0	Motor type of specified motor port
E_ID	Illegal motor port number

Definition at line 218 of file ev3cxx_motor.h.

                             { 
         ER_UINT motor_type = ev3_motor_get_type(m_port);
 
         if(motor_type < 0 || motor_type >= TNUM_MOTOR_PORT)
             return E_ID;
         return motor_type; 
     }

◆ off()

void off ( bool brake = true )

inline

Stop motor.

Set the motor power or speed to 0 and depending on param brake will brake the motor.

Parameters

brake Start braking the motor (true = braking, false = not braking). Default value is true.

Definition at line 80 of file ev3cxx_motor.h.

Referenced by MotorTank::off(), and Motor::~Motor().

                                 {
         ev3_motor_stop(m_port, brake);
     }

◆ on()

void on ( int power = 50 )

inline

Set speed on regulated motor.

Using regulated motor driver (motor should has constant speed) and param power is equivalent to speed. Motor control real power to keep constant speed.

Parameters

power Motor speed. Range: -100 to +100. A negative value moves the robot backwards. Default value is 50. If a out-of-range value is given, it will be clipped to the minimum (-100) or maximum (100) value.

Definition at line 91 of file ev3cxx_motor.h.

Referenced by MotorTank::on().

                             {
         // change type of motor: UNREGULATED_MOTOR => LARGE_MOTOR/MEDIUM_MOTOR 
         if(m_type != getType()) {
             ev3_motor_config(m_port, m_type);
         }
         ev3_motor_set_power(m_port, power);
     }

◆ onForDegrees()

void onForDegrees	(	int	speed = `50`,
		int	degrees = `360`,
		bool_t	brake = `true`,
		bool_t	blocking = `true`,
		unsigned int	wait_after_ms = `60`
	)

inline

Set number of degrees to rotate with regulated motor.

Parameters

speed	Speed of motor. Range: -100 to +100. Default value is 50.
degrees	Number of degrees for rotation of motor. A negative value moves the robot backwards. Default value is 360.
brake	If true, then motor start braking after reach the position (= degrees).
blocking	true (The function will be blocked until the move is finished), or false (The function will not be blocked). Default value is false.
wait_after_ms	Adds wait after the functuion executes. Default wait is 60 ms. It is important because of some race condition when another motor rotation follows immediately

Definition at line 125 of file ev3cxx_motor.h.

Referenced by MotorTank::onForDegrees().

                                                                                                                                        {
         if (speed == 0)
             return;
         if (speed < 0) {
             speed = -speed;
             degrees = -degrees;
         }
         ev3_motor_rotate_brake(m_port, degrees, speed, blocking, brake);
         tslp_tsk(wait_after_ms);
     }

◆ onForRotations()

void onForRotations	(	int	speed = `50`,
		float	rotations = `1`,
		bool_t	brake = `true`,
		bool_t	blocking = `true`,
		unsigned int	wait_after_ms = `60`
	)

inline

Set number of rotation to rotate with regulated motor.

Parameters

speed	Speed of motor. Range: -100 to +100. Default value is 50.
rotations	Number of rotation for rotate with motor. A negative value moves the robot backwards. Default value is 1.
brake	If true, then motor start braking after reach the position (= degrees).
blocking	true (The function will be blocked until the move is finished), or false (The function will not be blocked). Default value is false.
wait_after_ms	Adds wait after the functuion executes. Default wait is 60 ms. It is important because of some race condition when another motor rotation follows immediately

Definition at line 147 of file ev3cxx_motor.h.

                                                                                                                                            {
         if (speed == 0)
             return;
         if (speed < 0) {
             speed = -speed;
             rotations = -rotations;
         }
         ev3_motor_rotate_brake(m_port, NUMBER_OF_DEGREES_PER_ROTATION * rotations, speed, blocking, brake);
         tslp_tsk(wait_after_ms);
     }

◆ onForSeconds()

void onForSeconds	(	int	speed = `50`,
		unsigned int	time_ms = `1000`,
		bool_t	brake = `true`
	)

inline

Rotates the motor for a given time.

Parameters

speed	Speed of motor. Range: -100 to +100. Default value is 50.
time	Number of miliseconds for rotate with motor. Default value is 1000.
brake	If true, then motor start braking after reach the position (= degrees).

Definition at line 165 of file ev3cxx_motor.h.

                                                                                         {
         on(speed);
         tslp_tsk(time_ms);
         off(brake);
     }

◆ resetPosition()

void resetPosition ( )

inline

Reset the angular position of the motor to zero.

Setting the value of the angular position sensor of the motor does not affect the actual power and position of the motor.

Definition at line 202 of file ev3cxx_motor.h.

Referenced by MotorTank::resetPosition().

202 { ev3_motor_reset_counts(m_port); }

◆ rotations()

float rotations ( ) const

inline

Get the actual position of a motor in rotations.

When an incorrect motor port number is specified, it always returns 0.

Returns: Motor position in rotations (float value).

Definition at line 185 of file ev3cxx_motor.h.

                             { 
         return ev3_motor_get_counts(m_port) / NUMBER_OF_DEGREES_PER_ROTATION;
     }

◆ unregulated()

void unregulated ( int power = 50 )

inline

Set power on unregulated motor. [TODO: fix - same behavior as on() -> problem in EV3RT].

Motor works with constant power, NOT speed. Speed changes depend on load.

Parameters

power Motor power. Range: -100 to +100. A negative value moves the robot backwards. Default value is 50. If a out-of-range value is given, it will be clipped to the minimum (-100) or maximum (100) value.

Definition at line 106 of file ev3cxx_motor.h.

Referenced by MotorTank::unregulated().

                                      { 
         // change type of motor: LARGE_MOTOR/MEDIUM_MOTOR => UNREGULATED_MOTOR
         if(UNREGULATED_MOTOR != getType()) {
             ev3_motor_config(m_port, UNREGULATED_MOTOR);
         }
         ev3_motor_set_power(m_port, power);
     }

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Motor()

◆ ~Motor()

Member Function Documentation

◆ currentPower()

◆ degrees()

◆ getPort()

◆ getType()

◆ off()

◆ on()

◆ onForDegrees()

◆ onForRotations()

◆ onForSeconds()

◆ resetPosition()

◆ rotations()

◆ unregulated()