JMotorCompStandard Class Reference

Converts from speed to driver input compensating for motors not being perfect. More...

#include <JMotorCompStandard.h>

Inheritance diagram for JMotorCompStandard:

Collaboration diagram for JMotorCompStandard:

Public Member Functions
	JMotorCompStandard (JVoltageCompensator &_voltComp, JMotorCompStandardConfig _config, float _multiplier=1.0)
	Converts from speed to driver input compensating for motors not being perfect.
float	compensate (float val)
	calculate
void	setConfig (JMotorCompStandardConfig &_config)
float	getMaxVel ()
	How fast of a motor speed setting would get adjusted to full motor power.
float	getMinVel ()
	Slowest speed motor can go.
void	setMultiplier (float _multiplier)
Public Member Functions inherited from JMotorCompensator
void	setDriverRange (float _driverRange)
	set what value makes the driver output 100% of supply voltage
void	setMaxDriverRangeAmount (float _driverRangeAmount)
	set what fraction of driverRange can be used
float	getDriverRange ()
	get what value makes the driver output 100% of supply voltage
float	getMaxDriverRangeAmount ()
	get what fraction of driverRange can be used

Additional Inherited Members
Protected Attributes inherited from JMotorCompensator
float	driverRange = 1.0
float	maxDriverRange = 1.0

Detailed Description

Converts from speed to driver input compensating for motors not being perfect.

Constructor & Destructor Documentation

JMotorCompStandard()

JMotorCompStandard::JMotorCompStandard ( JVoltageCompensator &  _voltComp, JMotorCompStandardConfig  _config, float  _multiplier = 1.0  )

inline

Converts from speed to driver input compensating for motors not being perfect.

Parameters

_voltComp	reference to JVoltageCompensator to convert voltage to driver input
_config	JMotorCompStandardConfig (settings for your motor)
_multiplier	multiplier for speed input, optional, default 1.0

Member Function Documentation

compensate()

float JMotorCompStandard::compensate ( float  val )

inlinevirtual

calculate

Parameters

val	(float) speed

Return values

(float)

value to set driver

Reimplemented from JMotorCompensator.

getMaxVel()

float JMotorCompStandard::getMaxVel ( )

inlinevirtual

How fast of a motor speed setting would get adjusted to full motor power.

Note

may change as battery voltage changes

Return values

(float)

Reimplemented from JMotorCompensator.

getMinVel()

float JMotorCompStandard::getMinVel ( )

inlinevirtual

Slowest speed motor can go.

Return values

(float)

Reimplemented from JMotorCompensator.

setConfig()

void JMotorCompStandard::setConfig ( JMotorCompStandardConfig &  _config )

inline

setMultiplier()

void JMotorCompStandard::setMultiplier ( float  _multiplier )

inline

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

• src/JMotorCompensator/JMotorCompStandard.h