rb::Motor Class Reference

#include <RBCXMotor.h>

Public Types
typedef std::function< void(Motor &)>	callback_t

Public Member Functions
MotorId	id () const
int32_t	position () const
void	requestInfo (callback_t cb)
void	power (int16_t value)
	Set motor power. More...
void	speed (int16_t ticksPerSecond)
	Set motor speed. More...
void	brake (uint16_t brakingPower)
	Start braking. More...
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. More...
int8_t	pwmMaxPercent () const
	Get current maximum PWM percent value. More...
void	driveToValue (int32_t positionAbsolute, int16_t speedTicksPerSecond, callback_t callback=nullptr)
	Drive motor to set position (according absolute value). More...
void	drive (int32_t positionRelative, int16_t speedTicksPerSecond, callback_t callback=nullptr)
	Drive motor to set position (according relative value). More...
void	setCurrentPosition (int32_t pos=0)
	Set the encoder tick counter to some value. More...
void	setConfig (const MotorConfig &cfg)
	Set configuration, see MotorConfig & STM32 firmware. More...

Friends
class	Manager
class	MotorChangeBuilder

Member Typedef Documentation

callback_t

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

Member Function Documentation

brake()

void rb::Motor::brake

(

uint16_t

brakingPower

)

Start braking.

Parameters

brakingPower

braking power in <0, 32767>

drive()

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

Drive motor to set position (according relative value).

Parameters

positionRelative	relative position of the motor in encoder ticks
speedTicksPerSecond	speed of the motor in encoder ticks <-32768; 32767>
callback	is a function which will be called when the motor reach the position

Returns

MotorChangeBuilder

Note

If you call drive(100, 100) and then drive(100, 100), the motor will drive to 200 ticks. If you call drive(100, 100) and then drive(-100, 100), the motor will drive to 0 ticks.

driveToValue()

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

Drive motor to set position (according absolute value).

Parameters

positionAbsolute	absolute position of the motor in encoder ticks
speedTicksPerSecond	speed of the motor in encoder ticks <-32768; 32767>
callback	is a function which will be called when the motor reach the position

Returns

MotorChangeBuilder

id()

MotorId rb::Motor::id ( ) const

inline

position()

int32_t rb::Motor::position ( ) const

inline

power()

void rb::Motor::power

(

int16_t

value

)

Set motor power.

Parameters

power

of the motor <-32768; 32767>

pwmMaxPercent() [1/2]

int8_t rb::Motor::pwmMaxPercent ( ) const

inline

Get current maximum PWM percent value.

Returns

current maximum PWM percent value

pwmMaxPercent() [2/2]

void rb::Motor::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.

Parameters

pct	of the max value <0 - 100>

requestInfo()

void rb::Motor::requestInfo

(

callback_t

cb

)

setConfig()

void rb::Motor::setConfig

(

const MotorConfig &

cfg

)

Set configuration, see MotorConfig & STM32 firmware.

Parameters

cfg	new configuration

setCurrentPosition()

void rb::Motor::setCurrentPosition

(

int32_t

pos = 0

)

Set the encoder tick counter to some value.

Parameters

pos	new position of the motor in encoder ticks

speed()

void rb::Motor::speed

(

int16_t

ticksPerSecond

)

Set motor speed.

Parameters

ticksPerSecond

speed of the motor <-32768; 32767>

Friends And Related Function Documentation

Manager

friend class Manager

friend

MotorChangeBuilder

friend class MotorChangeBuilder

friend

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

• RBCXMotor.h
• RBCXMotor.cpp