myRIO::Motor Class Reference

Combination of PWM and Encoder to work with motors. More...

#include <Motor.h>

Public Member Functions
	Motor (uint32_t port, bool defaultDirection, double angularCoef)
	Motors configuration. More...
void	setSpeed (double speed)
	Set the speed in duty cycle. More...
void	setAngularSpeed (double speed)
	Set the speed in angular speed. More...
void	setAngularSpeedAndDirection (double speed)
	Set the speed in angular speed and the direction. More...
double	getSpeed ()
	Get the speed of the motor. More...
void	setDirection (bool dir)
	Set the direction of the motor. More...
bool	getDefaultDirection ()
	Get the default direction of the motor. More...
void	setInterrupt (std::function< void(long, bool)> func, unsigned int threshold)
long	getEncoderPulses ()
	Get the Encoder values. More...
	~Motor ()
	Destructor Stop the motor by seting the speed to 0. More...

Private Attributes
double	speed
	The duty cycle of the motor. More...
double	angularCoef
	Angular coefficient of the motors The relation between the angular speed and the duty cycle. More...
bool	defaultDirection
	Default direction of the motors In our case : ClockWise for the left motor and Conter ClockWise for the right motor. More...
bool	direction
	Direction of the motors. More...
PWM *	channel
	The pin where the PWM will be generated. More...
Encoder *	enc
	Attached encodeur In our case : Encoder A attached to the PWMA_0 (PWM0) and Encoder B attached to the PWMA_1 (PWM1). More...
uint8_t	pin
	The pin where the PWM will be generated. More...

Detailed Description

Combination of PWM and Encoder to work with motors.

Examples

example_motor_pid_encoder.cpp, project_car.cpp, and project_pendulum.cpp.

Definition at line 22 of file Motor.h.

Constructor & Destructor Documentation

Motor()

Motor::Motor	(	uint32_t	port,
		bool	defaultDirection,
		double	angularCoef
	)

Motors configuration.

Parameters

port	the PWM port (PWM[A:C]_[0:2])
defaultDirection	the default direction of the motor
angularCoef	the angular coefficient of the motor In our case : code to configurate only two motors. The code can be easly changed to control more motors

Definition at line 12 of file Motor.cpp.

~Motor()

Motor::~Motor

(

)

Destructor Stop the motor by seting the speed to 0.

Stop the thread of the encoders.

Definition at line 103 of file Motor.cpp.

Member Function Documentation

getDefaultDirection()

bool Motor::getDefaultDirection

(

)

Get the default direction of the motor.

Returns

the direction; CW -> 1 , CCW -> 0

Examples

example_motor_pid_encoder.cpp.

Definition at line 81 of file Motor.cpp.

getEncoderPulses()

long Motor::getEncoderPulses

(

)

Get the Encoder values.

Returns

return the value of the encoder

Definition at line 29 of file Motor.cpp.

getSpeed()

double Motor::getSpeed

(

)

Get the speed of the motor.

Returns

the speed of the motor

Definition at line 74 of file Motor.cpp.

setAngularSpeed()

void Motor::setAngularSpeed

(

double

speed

)

Set the speed in angular speed.

Parameters

speed

the speed (angular speed) of the motor In this function the changment of the speed is done from a value °/s [0:850].

Examples

example_motor_pid_encoder.cpp.

Definition at line 48 of file Motor.cpp.

setAngularSpeedAndDirection()

void Motor::setAngularSpeedAndDirection

(

double

speed

)

Set the speed in angular speed and the direction.

Parameters

speed

the speed (angular speed) and the direction of the motor In this function the changment of the speed is done from a value °/s [0:850]. The direction is done with the the funtion setDirection

Examples

example_motor_pid_encoder.cpp.

Definition at line 60 of file Motor.cpp.

setDirection()

void Motor::setDirection

(

bool

dir

)

Set the direction of the motor.

Parameters

dir	the direction; CW -> 1 , CCW -> 0

Definition at line 87 of file Motor.cpp.

setInterrupt()

void Motor::setInterrupt	(	std::function< void(long, bool)>	func,
		unsigned int	threshold
	)

Examples

example_motor_pid_encoder.cpp.

Definition at line 96 of file Motor.cpp.

setSpeed()

void Motor::setSpeed

(

double

speed

)

Set the speed in duty cycle.

Parameters

speed

the speed (duty cycle) of the motor In this function the changment of the speed is done from a value in percentage [0:100].

Definition at line 39 of file Motor.cpp.

Member Data Documentation

angularCoef

double myRIO::Motor::angularCoef

private

Angular coefficient of the motors The relation between the angular speed and the duty cycle.

For exemple for our motor for the 100% duty cycle we had an angular speed of 884,6 °/s. Which means that our coeffient is angular speed * 100% = 8,846.

Definition at line 36 of file Motor.h.

channel

PWM* myRIO::Motor::channel

private

The pin where the PWM will be generated.

Definition at line 45 of file Motor.h.

defaultDirection

bool myRIO::Motor::defaultDirection

private

Default direction of the motors In our case : ClockWise for the left motor and Conter ClockWise for the right motor.

Definition at line 41 of file Motor.h.

direction

bool myRIO::Motor::direction

private

Direction of the motors.

Definition at line 44 of file Motor.h.

enc

Encoder* myRIO::Motor::enc

private

Attached encodeur In our case : Encoder A attached to the PWMA_0 (PWM0) and Encoder B attached to the PWMA_1 (PWM1).

Definition at line 46 of file Motor.h.

pin

uint8_t myRIO::Motor::pin

private

The pin where the PWM will be generated.

Definition at line 49 of file Motor.h.

speed

double myRIO::Motor::speed

private

The duty cycle of the motor.

Definition at line 35 of file Motor.h.

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

• C:/Users/jackb/OneDrive - etu.univ-lyon1.fr/TERi/Eclipse/workspace/APIForRIO/src/Motor.h
• C:/Users/jackb/OneDrive - etu.univ-lyon1.fr/TERi/Eclipse/workspace/APIForRIO/src/Motor.cpp