DcMotor Class Reference

Brushed or brushless DC motor interface. More...

#include <dc_motor.h>

Inheritance diagram for DcMotor:

Collaboration diagram for DcMotor:

Public Member Functions
virtual bool	set (float duty)=0
	Sets the motor duty cycle.
virtual float	get () const =0
	Get the current motor duty cycle.
virtual void	disable (const char *msg)=0
virtual void	enable ()=0
virtual bool	isOpenDirection () const =0
const char *	msg () const

Protected Attributes
const char *	m_msg = nullptr

Detailed Description

Brushed or brushless DC motor interface.

Represents a DC motor (brushed or brushless) that provides simple torque/power/current/duty cycle control, but not accurate absolute position control.

Definition at line 19 of file dc_motor.h.

Member Function Documentation

disable()

virtual void DcMotor::disable ( const char *  msg )

pure virtual

Implemented in TwoPinDcMotor.

Referenced by EtbController::setOutput(), and EtbController::update().

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enable()

virtual void DcMotor::enable ( )

pure virtual

Implemented in TwoPinDcMotor.

Referenced by EtbController::setOutput().

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get()

virtual float DcMotor::get ( ) const

pure virtual

Get the current motor duty cycle.

Returns

The current duty cycle setting. +1.0f represents full power forward, and -1.0f represents full power backward.

Implemented in TwoPinDcMotor.

isOpenDirection()

virtual bool DcMotor::isOpenDirection ( ) const

pure virtual

Implemented in TwoPinDcMotor.

msg()

const char * DcMotor::msg ( ) const

inline

Definition at line 40 of file dc_motor.h.

                            {
        return m_msg;
    }

Referenced by TwoPinDcMotor::disable(), and DcHardware::msg().

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set()

virtual bool DcMotor::set ( float  duty )

pure virtual

Sets the motor duty cycle.

Parameters

duty	+1.0f represents full power forward, and -1.0f represents full power backward.

Returns

True if any fault was detected driving the motor, and false if successful.

Implemented in TwoPinDcMotor.

Referenced by EtbController::setOutput(), and DualHBridgeStepper::update().

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Field Documentation

m_msg

const char* DcMotor::m_msg = nullptr

protected

Definition at line 45 of file dc_motor.h.

Referenced by TwoPinDcMotor::disable(), TwoPinDcMotor::enable(), and msg().

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

• controllers/system/dc_motor.h