30 #ifndef _REC_ROBOTINO_API2_MOTOR_H_ 31 #define _REC_ROBOTINO_API2_MOTOR_H_ 33 #include "rec/robotino/api2/defines.h" 34 #include "rec/robotino/api2/ComObject.h" 48 #ifdef REC_ROBOTINO_API2_CLASS_ATTRIBUTE 49 REC_ROBOTINO_API2_CLASS_ATTRIBUTE
53 friend class MotorImpl;
64 static unsigned int numMotors();
73 void setComId(
const ComId&
id );
82 void setMotorNumber(
unsigned int number );
91 void setSpeedSetPoint(
float speed );
99 void resetPosition(
int position );
108 void setBrake(
bool brake );
126 void setPID(
float kp,
float ki,
float kd );
135 float actualVelocity()
const;
144 int actualPosition()
const;
152 float motorCurrent()
const;
159 virtual void motorReadingsChanged(
float velocity,
int position,
float current );
Represents a single motor.
Definition: Motor.h:47
The base class for all Robotino objects.
Definition: ComObject.h:44
Definition: AnalogInput.h:36
The id of a Com object.
Definition: ComId.h:48