Represents a single motor. More...

#include <Motor.h>

Inheritance diagram for rec::robotino::api2::Motor:

Public Member Functions
void	setComId (const ComId &id)

void	setMotorNumber (unsigned int number)

void	setSpeedSetPoint (float speed)

void	resetPosition (int position)

void	setBrake (bool brake)

void	setPID (float kp, float ki, float kd)

float	actualVelocity () const

int	actualPosition () const

float	motorCurrent () const

virtual void	motorReadingsChanged (float velocity, int position, float current)

Public Member Functions inherited from rec::robotino::api2::ComObject
	ComObject ()

virtual	~ComObject ()

ComId	comId () const

Static Public Member Functions
static unsigned int	numMotors ()

Friends
class	MotorImpl

Additional Inherited Members
Protected Attributes inherited from rec::robotino::api2::ComObject
ComId	_comID

Detailed Description

Represents a single motor.

Member Function Documentation

int rec::robotino::api2::Motor::actualPosition ( ) const

Retrieves the actual position of this motor.

Returns: actual position

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread save

float rec::robotino::api2::Motor::actualVelocity ( ) const

Retrieves the actual speed of this motor.

Returns: Speed in rpm.

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread save

float rec::robotino::api2::Motor::motorCurrent ( ) const

Retrieves the current of this motor.

Returns: motor current in A.

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread save

virtual void rec::robotino::api2::Motor::motorReadingsChanged	(	float	velocity,
		int	position,
		float	current
	)

virtual

Called when new readings are available.

Remarks: This function is called from the thread in which Com::processEvents() is called.

See also: Com::processEvents

static unsigned int rec::robotino::api2::Motor::numMotors ( )

static

Returns: Returns the number of drive motors on Robotino

Exceptions

nothing

Remarks: This function is thread save

void rec::robotino::api2::Motor::resetPosition ( int position )

Resets the position of this motor.

Parameters

position New position after reset.

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread save

void rec::robotino::api2::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.

Remarks: This function is thread save

void rec::robotino::api2::Motor::setComId ( const ComId & id )

Sets the associated communication object.

Parameters

id	The id of the associated communication object.

Exceptions

RobotinoException if given id is invalid.

Remarks: This function is thread save

void rec::robotino::api2::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.

Remarks: This function is thread save

void rec::robotino::api2::Motor::setPID	(	float	kp,
		float	ki,
		float	kd
	)

Sets the proportional, integral and differential constant of the PID controller. Robotino v2 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 value is given, the microcontroller firmware uses its build in default value.

Robotino v3 Parameters are floating point values used by the microcontroller directly. If parameter is less than 0 the default parameter is used.

Parameters

kp	proportional constant. Typical value for Robotino v2 is 200. Typical value for Robotino v3 is 0.1.
ki	integral constant. Typical value for Robotino v2 is 10. Typical value for Robotino v3 is 0.005.
kd	differential constant. Typical value 0. Not used by Robotino v3.

Exceptions

RobotinoException if the current communication object is invalid.

Remarks: This function is thread save

void rec::robotino::api2::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.

Remarks: This function is thread save

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

C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/Motor.h

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation