Class MotorTank. API for working with two motors together. More...

#include <ev3cxx_motor_tank.h>

Inheritance diagram for MotorTank:

Public Member Functions
	MotorTank (MotorPort left_motor_port, MotorPort right_motor_port, MotorType type=MotorType::LARGE)
	Constructor of class MotorTank. More...

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

void	on (int left_speed=50, int right_speed=50)
	Set speed on regulated motors. More...

void	unregulated (int left_power=50, int right_power=50)
	Set power on unregulated motors. More...

void	onForDegrees (int left_speed=50, int right_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 motors. More...

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

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

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

Motor &	leftMotor ()
	Return reference to the left motor. More...

const Motor &	leftMotor () const
	Return const reference to the left motor. More...

Motor &	rightMotor ()
	Return reference to the right motor. More...

const Motor &	rightMotor () const
	Return const reference to the right motor. More...

Private Attributes
Motor	m_left_motor

Motor	m_right_motor

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 MotorTank. API for working with two motors together.

Definition at line 17 of file ev3cxx_motor_tank.h.

Constructor & Destructor Documentation

◆ MotorTank()

MotorTank	(	MotorPort	left_motor_port,
		MotorPort	right_motor_port,
		MotorType	type = `MotorType::LARGE`
	)

inline

Constructor of class MotorTank.

Parameters

left_motor_port	Port number
right_motor_port	Port number
type	Type of motor ports: motor_type_t

Definition at line 31 of file ev3cxx_motor_tank.h.

     : m_left_motor(left_motor_port, type), 
       m_right_motor(right_motor_port, type)
     {}

Member Function Documentation

◆ leftMotor() [1/2]

Motor& leftMotor ( )

inline

Return reference to the left motor.

Returns: Return Motor&.

Definition at line 148 of file ev3cxx_motor_tank.h.

148 { return m_left_motor; }

◆ leftMotor() [2/2]

const Motor& leftMotor ( ) const

inline

Return const reference to the left motor.

Returns: Return const Motor&.

Definition at line 155 of file ev3cxx_motor_tank.h.

155 { return m_left_motor; }

◆ off()

void off ( bool brake = true )

inline

Stop motors.

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

Parameters

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

Definition at line 42 of file ev3cxx_motor_tank.h.

References Motor::off().

Referenced by MotorTank::onForSeconds().

                                 {
         m_left_motor.off(brake);
         m_right_motor.off(brake);
     }

◆ on()

void on	(	int	left_speed = `50`,
		int	right_speed = `50`
	)

inline

Set speed on regulated motors.

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

Parameters

left_speed	Left motor speed. Range: -100 to +100. A negative value turns the wheel 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.
right_speed	Right motor speed. Range: -100 to +100. A negative value turns the wheel 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 57 of file ev3cxx_motor_tank.h.

References Motor::on().

Referenced by MotorTank::onForSeconds().

                                                        {
         m_left_motor.on(left_speed);
         m_right_motor.on(right_speed);
     }

◆ onForDegrees()

void onForDegrees	(	int	left_speed = `50`,
		int	right_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 motors.

Parameters

left_speed	Left motor speed. Range: -100 to +100. Default value is 50.
right_speed	Right motor speed. Range: -100 to +100. Default value is 50.
degrees	Number of degrees for rotation of the forward or faster motor. 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 function executes. Default wait is 60 ms. It is important because of some race condition when another motor rotation follows immediately

Definition at line 88 of file ev3cxx_motor_tank.h.

References Motor::onForDegrees().

Referenced by MotorTank::onForRotations().

                                                                                                                                                                   {
         int labs = abs(left_speed);
         int rabs = abs(right_speed);
         if (labs > rabs) {
             const float sr = float(rabs) / float(labs);
             m_right_motor.onForDegrees(right_speed, degrees * sr, brake, false, 0);
             m_left_motor.onForDegrees (left_speed, degrees, brake, blocking, wait_after_ms);
         } else {
             const float sr = rabs != 0 ? float(labs) / float(rabs) : 0;
             m_left_motor.onForDegrees (left_speed, degrees * sr, brake, false, 0);
             m_right_motor.onForDegrees(right_speed, degrees, brake, blocking, wait_after_ms);
         }
     }

◆ onForRotations()

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

inline

Set number of rotations to rotate with regulated motors.

Parameters

left_speed	Left motor speed. Range: -100 to +100. Default value is 50.
right_speed	Right motor speed. Range: -100 to +100. Default value is 50.
rotations	Number of rotations for rotation of the forward or faster motor. 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 function executes. Default wait is 60 ms. It is important because of some race condition when another motor rotation follows immediately

Definition at line 114 of file ev3cxx_motor_tank.h.

References MotorTank::onForDegrees().

                                                                                                                                                                       {
         onForDegrees(left_speed, right_speed, rotations * NUMBER_OF_DEGREES_PER_ROTATION, brake, blocking, wait_after_ms);
     }

◆ onForSeconds()

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

inline

Rotates the motor for a given time.

Parameters

left_speed	Speed of left motor. Range: -100 to +100. Default value is 50.
right_speed	Speed of right motor. Range: -100 to +100. Default value is 50.
ms	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 126 of file ev3cxx_motor_tank.h.

References MotorTank::off(), and MotorTank::on().

                                                                                                                    {
         on(left_speed, right_speed);
         tslp_tsk(time_ms);
         off(brake);
     }

◆ resetPosition()

void resetPosition ( )

inline

Reset the angular position of the motors 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 137 of file ev3cxx_motor_tank.h.

References Motor::resetPosition().

     {
         m_left_motor.resetPosition();
         m_right_motor.resetPosition();
     }

◆ rightMotor() [1/2]

Motor& rightMotor ( )

inline

Return reference to the right motor.

Returns: Return Motor&.

Definition at line 162 of file ev3cxx_motor_tank.h.

162 { return m_right_motor; }

◆ rightMotor() [2/2]

const Motor& rightMotor ( ) const

inline

Return const reference to the right motor.

Returns: Return const Motor&.

Definition at line 169 of file ev3cxx_motor_tank.h.

169 { return m_right_motor; }

◆ unregulated()

void unregulated	(	int	left_power = `50`,
		int	right_power = `50`
	)

inline

Set power on unregulated motors.

Motors work with constant power, NOT speed. Speed changes depend on load.

Parameters

left_power	Left motor power. Range: -100 to +100. A negative value turns the wheel 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.
right_power	Right motor power. Range: -100 to +100. A negative value turns the wheel 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 71 of file ev3cxx_motor_tank.h.

References Motor::unregulated().

                                                                 { 
         m_left_motor.unregulated(left_power);
         m_right_motor.unregulated(right_power);
     }

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MotorTank()

Member Function Documentation

◆ leftMotor() [1/2]

◆ leftMotor() [2/2]

◆ off()

◆ on()

◆ onForDegrees()

◆ onForRotations()

◆ onForSeconds()

◆ resetPosition()

◆ rightMotor() [1/2]

◆ rightMotor() [2/2]

◆ unregulated()