/home/ciesla/projects/svn.openrobotino.org/openrobotino1/lib/rec/robotino/com/c/Motor.h File Reference
In "rec/robotino/com/c/Motor.h" you can find functions for reading Robotino's bumper.
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#include "rec/robotino/com/c/globals.h"
#include "rec/robotino/com/c/Com.h"
Go to the source code of this file.
Detailed Description
In "rec/robotino/com/c/Motor.h" you can find functions for reading Robotino's bumper.
Use Motor_construct() to create a new motor object. Associate the motor object with a com object using Motor_setComId(). Use Motor_setSetPointSpeed() to set the motor's speed.
Function Documentation
DLLEXPORT int Motor_actualPosition |
( |
MotorId |
id |
) |
|
Retrieves the actual position of this motor.
- Parameters:
-
| id | The id of the motor object. |
- Returns:
- actual position
DLLEXPORT float Motor_actualSpeed |
( |
MotorId |
id |
) |
|
Retrieves the actual speed of this motor.
- Parameters:
-
| id | The id of the motor object. |
- Returns:
- Speed in rpm.
Returns TRUE (1) on success. Returns FALSE (0) if the given MotorId is invalid.
DLLEXPORT MotorId Motor_construct |
( |
unsigned int |
number |
) |
|
Construct an motor object
- Parameters:
-
- Returns:
- Returns the ID of the newly constructed motor object.
DLLEXPORT BOOL Motor_destroy |
( |
MotorId |
id |
) |
|
Destroy the motor object assigned to id
- Parameters:
-
| id | The id of the motor object to be destroyed |
- Returns:
- Returns TRUE (1) on success. Returns FALSE (0) if the given MotorId is invalid.
DLLEXPORT float Motor_motorCurrent |
( |
MotorId |
id |
) |
|
Retrieves the current of this motor.
- Parameters:
-
| id | The id of the motor object. |
- Returns:
- motor current in A.
DLLEXPORT float Motor_rawCurrentMeasurment |
( |
MotorId |
id |
) |
|
The current is measured by a 10 bit adc and is not converted into A.
- Parameters:
-
| id | The id of the motor object. |
- Returns:
- The current delivered by to this motor. Range from 0 to 1023.
DLLEXPORT BOOL Motor_resetPosition |
( |
MotorId |
id |
) |
|
Resets the position of this motor.
- Parameters:
-
| id | The id of the motor object. |
- Returns:
- Returns TRUE (1) on success. Returns FALSE (0) if the given MotorId is invalid.
DLLEXPORT BOOL Motor_setBrake |
( |
MotorId |
id, |
|
|
BOOL |
brake | |
|
) |
| | |
Controls the brakes of this motor.
- Parameters:
-
| id | The id of the motor object. |
| brake | If set to TRUE, this will activate the brake. If set to FALSE, the brake is released. |
- Returns:
- Returns TRUE (1) on success. Returns FALSE (0) if the given MotorId is invalid.
DLLEXPORT BOOL Motor_setComId |
( |
MotorId |
id, |
|
|
ComId |
comId | |
|
) |
| | |
Associated a motor object with a communication interface, i.e. binding the motor to a specific Robotino
- Returns:
- Returns TRUE (1) on success. Returns FALSE (0) if the given MotorId or ComId is invalid.
DLLEXPORT BOOL Motor_setMotorNumber |
( |
MotorId |
id, |
|
|
unsigned int |
number | |
|
) |
| | |
Sets the number of this motor.
- Parameters:
-
| id | The id of the motor object to be set |
| number | number of this motor |
- Exceptions:
-
| RobotinoException | if the current communication object is invalid. |
DLLEXPORT BOOL Motor_setPID |
( |
MotorId |
id, |
|
|
unsigned char |
kp, |
|
|
unsigned char |
ki, |
|
|
unsigned char |
kd | |
|
) |
| | |
Sets the proportional, integral and differential constant of the PID controller.
- Parameters:
-
| id | The id of the motor object. |
| kp | proportional constant. Typical value 200. |
| ki | integral constant. Typical value 10. |
| kd | differential constant. Typical value 0. |
- Returns:
- Returns TRUE (1) on success. Returns FALSE (0) if the given MotorId is invalid.
DLLEXPORT BOOL Motor_setSetPointSpeed |
( |
MotorId |
id, |
|
|
float |
speed | |
|
) |
| | |
Sets the setpoint speed of this motor.
- Parameters:
-
| id | The id of the motor object. |
| speed | Set point speed in rpm. |
- Returns:
- Returns TRUE (1) on success. Returns FALSE (0) if the given MotorId is invalid.
DLLEXPORT unsigned int numMotors |
( |
|
) |
|
- Returns:
- Returns the number of drive motors on Robotino