JMotorCompensator Class Reference

This class defines a common interface for converting from speed to driver input. It should compensate for factors like motor response and supply voltage. More...

#include <JMotorCompensator.h>

Inheritance diagram for JMotorCompensator:

Public Member Functions
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
virtual float	compensate (float val)
	calculate
virtual float	getMaxVel ()
	How fast of a motor speed setting would get adjusted to full motor power.
virtual float	getMinVel ()
	Slowest speed motor can go.
float	getDriverRange ()
	get what value makes the driver output 100% of supply voltage
float	getMaxDriverRangeAmount ()
	get what fraction of driverRange can be used

Protected Attributes
float	driverRange = 1.0
float	maxDriverRange = 1.0

Detailed Description

This class defines a common interface for converting from speed to driver input. It should compensate for factors like motor response and supply voltage.

Member Function Documentation

compensate()

virtual float JMotorCompensator::compensate ( float  val )

virtual

calculate

Parameters

val	(float) speed

Return values

(float)

value to set driver

Reimplemented in JMotorCompBasic, JMotorCompDirect, and JMotorCompStandard.

getDriverRange()

float JMotorCompensator::getDriverRange ( )

inline

get what value makes the driver output 100% of supply voltage

Return values

(float)

getMaxDriverRangeAmount()

float JMotorCompensator::getMaxDriverRangeAmount ( )

inline

get what fraction of driverRange can be used

Return values

(float)

getMaxVel()

virtual float JMotorCompensator::getMaxVel ( )

virtual

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 in JMotorCompBasic, JMotorCompDirect, and JMotorCompStandard.

getMinVel()

virtual float JMotorCompensator::getMinVel ( )

virtual

Slowest speed motor can go.

Return values

(float)

Reimplemented in JMotorCompBasic, JMotorCompDirect, and JMotorCompStandard.

setDriverRange()

void JMotorCompensator::setDriverRange ( float  _driverRange )

inline

set what value makes the driver output 100% of supply voltage

Parameters

_driverRange

(float) max range of driver

setMaxDriverRangeAmount()

void JMotorCompensator::setMaxDriverRangeAmount ( float  _driverRangeAmount )

inline

set what fraction of driverRange can be used

Parameters

_driverRangeAmount

(float)

Member Data Documentation

driverRange

float JMotorCompensator::driverRange = 1.0

protected

maxDriverRange

float JMotorCompensator::maxDriverRange = 1.0

protected

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

• src/JMotorCompensator/JMotorCompensator.h