rb::MotorChangeBuilder Class Reference

Helper class for building the motor change event. More...

#include <RBCXManager.h>

Public Member Functions
	MotorChangeBuilder ()
	MotorChangeBuilder (const MotorChangeBuilder &o)=delete
	MotorChangeBuilder (MotorChangeBuilder &&o)
	~MotorChangeBuilder ()
MotorChangeBuilder &	power (MotorId id, int16_t value)
	Set single motor power. More...
MotorChangeBuilder &	speed (MotorId id, int16_t ticksPerSecond)
	Set single motor power. More...
MotorChangeBuilder &	brake (MotorId id, uint16_t brakingPower)
	Start braking. More...
MotorChangeBuilder &	pwmMaxPercent (MotorId id, int8_t percent)
	Limit motor index's power to percent. More...
MotorChangeBuilder &	drive (MotorId id, int32_t positionRelative, int16_t speedTicksPerSecond, Motor::callback_t callback=nullptr)
	Drive motor to relative position. More...
MotorChangeBuilder &	driveToValue (MotorId id, int32_t positionAbsolute, int16_t speedTicksPerSecond, Motor::callback_t callback=nullptr)
	Drive motor to absolute position. More...
void	set ()
	Finish the changes and submit the events. This method must be called at the end of the motor change event. If the method is not called, the motor change event will not be submitted. More...

Detailed Description

Helper class for building the motor change event.

Constructor & Destructor Documentation

MotorChangeBuilder() [1/3]

rb::MotorChangeBuilder::MotorChangeBuilder

(

)

MotorChangeBuilder() [2/3]

rb::MotorChangeBuilder::MotorChangeBuilder ( const MotorChangeBuilder &  o )

delete

MotorChangeBuilder() [3/3]

rb::MotorChangeBuilder::MotorChangeBuilder

(

MotorChangeBuilder &&

o

)

~MotorChangeBuilder()

rb::MotorChangeBuilder::~MotorChangeBuilder

(

)

Member Function Documentation

brake()

MotorChangeBuilder & rb::MotorChangeBuilder::brake	(	MotorId	id,
		uint16_t	brakingPower
	)

Start braking.

Parameters

id	of the motor (e.g. rb:MotorId::M1)
brakingPower	power of the braking, <0, 32767>

drive()

MotorChangeBuilder & rb::MotorChangeBuilder::drive	(	MotorId	id,
		int32_t	positionRelative,
		int16_t	speedTicksPerSecond,
		Motor::callback_t	callback = nullptr
	)

Drive motor to relative position.

Parameters

id	of the motor (e.g. rb:MotorId::M1)
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

driveToValue()

MotorChangeBuilder & rb::MotorChangeBuilder::driveToValue	(	MotorId	id,
		int32_t	positionAbsolute,
		int16_t	speedTicksPerSecond,
		Motor::callback_t	callback = nullptr
	)

Drive motor to absolute position.

Parameters

id	of the motor (e.g. rb:MotorId::M1)
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

power()

MotorChangeBuilder & rb::MotorChangeBuilder::power	(	MotorId	id,
		int16_t	value
	)

Set single motor power.

Parameters

id	of the motor (e.g. rb:MotorId::M1)
power	of the motor <-32768; 32767>

pwmMaxPercent()

MotorChangeBuilder & rb::MotorChangeBuilder::pwmMaxPercent	(	MotorId	id,
		int8_t	percent
	)

Limit motor index's power to percent.

Parameters

id	of the motor (e.g. rb:MotorId::M1)
percent	of the maximal power of the motor <0 - 100>

set()

void rb::MotorChangeBuilder::set

(

)

Finish the changes and submit the events. This method must be called at the end of the motor change event. If the method is not called, the motor change event will not be submitted.

speed()

MotorChangeBuilder & rb::MotorChangeBuilder::speed	(	MotorId	id,
		int16_t	ticksPerSecond
	)

Set single motor power.

Parameters

id	of the motor (e.g. rb:MotorId::M1)
speed	of the motor in encoder ticks <-32768; 32767>

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

• RBCXManager.h
• RBCXManager.cpp