JMotor/_j_motor_controller_8h_source.html

#ifndef J_MOTOR_CONTROLLER_H

#define J_MOTOR_CONTROLLER_H

#include "JMotorControllerBasic.h"

#include <Arduino.h>


class JMotorController : public virtual JMotorControllerBase {

public:

    virtual bool setPosTarget(float _posTarget, bool _run = true) = 0;


    virtual bool setPosSetpoint(float _posSetpoint, bool _run = true) = 0;


    virtual bool setPosDelta(float _posDelta, bool _run = true, bool _resetPos = false) = 0;


    virtual float getPosTarget() = 0;


    virtual float getPosSetpoint() = 0;


    virtual float getPos() = 0;


    virtual float resetPos() = 0;

    virtual void setVelLimit(float _velLimit) = 0;


    virtual bool isPosModeNotVelocity() = 0;

};


#include "JControlLoop/JControlLoop.h"

#include "JMotorControllerClosed.h"

#include "JMotorControllerOpen.h"

#endif

JControlLoop.h

JMotorControllerBasic.h

JMotorControllerClosed.h

JMotorControllerOpen.h

JMotorControllerBase
This class defines a common interface for classes which control velocity of a motor controlled by a J...
Definition JMotorControllerBase.h:7

JMotorController
This class defines a common interface for classes which control velocity and position of a motor cont...
Definition JMotorController.h:8

JMotorController::resetPos
virtual float resetPos()=0
reset what position the controller thinks it's in

JMotorController::getPos
virtual float getPos()=0
get what position the motor is currently at

JMotorController::setVelLimit
virtual void setVelLimit(float _velLimit)=0
set maximum motor speed

JMotorController::getPosTarget
virtual float getPosTarget()=0
get position set as target (for smoothed position setting mode)

JMotorController::getPosSetpoint
virtual float getPosSetpoint()=0
get position controller is currently trying to get to

JMotorController::setPosTarget
virtual bool setPosTarget(float _posTarget, bool _run=true)=0
set target position (motor drives towards position, following acceleration profile)

JMotorController::setPosSetpoint
virtual bool setPosSetpoint(float _posSetpoint, bool _run=true)=0
set position for motor to drive towards position as fast as possible (setpoint for control loop if av...

JMotorController::isPosModeNotVelocity
virtual bool isPosModeNotVelocity()=0
true if controller is in position target mode, false if in velocity mode

JMotorController::setPosDelta
virtual bool setPosDelta(float _posDelta, bool _run=true, bool _resetPos=false)=0
alternative method for setting velocity that uses setPosSetpoint