rec::robotino::com::Motor Class Reference

Represents a single motor. More...

#include <Motor.h>

List of all members.

Public Member Functions
void	setMotorNumber (unsigned int number)
void	setSpeedSetPoint (float speed)
void	resetPosition ()
void	setBrake (bool brake)
void	setPID (unsigned char kp, unsigned char ki, unsigned char kd)
float	actualVelocity () const
int	actualPosition () const
float	motorCurrent () const
unsigned short	rawCurrentMeasurment () const
Static Public Member Functions
static unsigned int	numMotors ()

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Detailed Description

Represents a single motor.

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Member Function Documentation

static unsigned int rec::robotino::com::Motor::numMotors

(

)

[static]

Returns:

Returns the number of drive motors on Robotino

Exceptions:

nothing

void rec::robotino::com::Motor::setMotorNumber

(

unsigned int

number

)

Sets the number of this motor.

Parameters:

number

number of this motor

Exceptions:

RobotinoException

if the current communication object is invalid.

void rec::robotino::com::Motor::setSpeedSetPoint

(

float

speed

)

Sets the setpoint speed of this motor.

Parameters:

speed

Set point speed in rpm.

Exceptions:

RobotinoException

if the current communication object is invalid.

void rec::robotino::com::Motor::resetPosition

(

)

Resets the position of this motor.

Exceptions:

RobotinoException

if the current communication object is invalid.

void rec::robotino::com::Motor::setBrake

(

bool

brake

)

Controls the brakes of this motor.

Parameters:

brake

If set to TRUE, the speed set-point is constantly set to 0. If set to FALSE, the speed set-point can be set by setSpeedSetPoint.

Exceptions:

RobotinoException

if the current communication object is invalid.

void rec::robotino::com::Motor::setPID	(	unsigned char	kp,
		unsigned char	ki,
		unsigned char	kd
	)

Sets the proportional, integral and differential constant of the PID controller. The range of values is from 0 to 255. These values are scaled by the microcontroller firmware to match with the PID controller implementation. If 255 is given, the microcontroller firmware uses its build in default value.

Parameters:

	kp	proportional constant. Typical value 200.
	ki	integral constant. Typical value 10.
	kd	differential constant. Typical value 0.

Exceptions:

RobotinoException

if the current communication object is invalid.

float rec::robotino::com::Motor::actualVelocity

(

)

const

Retrieves the actual speed of this motor.

Returns:

Speed in rpm.

Exceptions:

RobotinoException

if the current communication object is invalid.

int rec::robotino::com::Motor::actualPosition

(

)

const

Retrieves the actual position of this motor.

Returns:

actual position

Exceptions:

RobotinoException

if the current communication object is invalid.

float rec::robotino::com::Motor::motorCurrent

(

)

const

Retrieves the current of this motor.

Returns:

motor current in A.

Exceptions:

RobotinoException

if the current communication object is invalid.

unsigned short rec::robotino::com::Motor::rawCurrentMeasurment

(

)

const

The current is measured by a 10 bit adc and is not converted into A.

Returns:

The current delivered by to this motor. Range from 0 to 1023 with I/O board version 1.x. I/O board version 2 uses a 12bit ADC. Range is then [0;4098].

Exceptions:

RobotinoException

if the current communication object is invalid.

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

• /home/verbeek/openrobotino_src/openrobotino1/lib/rec/robotino/com/Motor.h