This class defines a common interface for classes which control velocity and position of a motor controlled by a JMotorDriver. More...

#include <JMotorController.h>

Inheritance diagram for JMotorController:

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Collaboration diagram for JMotorController:

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

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 available)

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

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

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

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

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

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

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

Public Member Functions inherited from JMotorControllerBase
virtual void	setAccelLimit (float _accelLimit)=0
	set maximum rate that motor speed can be changed at

virtual void	setVel (float vel, bool _run=true)=0
	set velocity for controller

virtual void	setVelTarget (float vel, bool _run=true)=0
	set target velocity for controller (acceleration limited)

virtual float	getVelTarget ()=0
	get target velocity for controller

virtual float	getVel ()=0
	get current velocity of motor

virtual float	getDriverSetVal ()=0
	returns the value the motor driver is being set to

virtual void	run ()=0
	update driver

virtual bool	setEnable (bool _enable)=0
	change whether motor controller is enabled

virtual bool	isDriverInRange ()=0
	true if motor driver is being set to within its range, false if driver is at a maximum

virtual bool	enable ()=0
	enable motor controller

virtual bool	disable ()=0
	disable motor controller

virtual float	getDriverMinRange ()=0
	if getDriverSetVal goes below this, isDriverInRange will go false

virtual float	getDriverMaxRange ()=0
	if getDriverSetVal exceeds this, isDriverInRange will go false

virtual bool	getEnable ()=0
	is the controller enabled

virtual float	getMaxVel ()=0
	How fast of a motor speed setting would get adjusted to full motor power.

virtual float	getMinVel ()=0
	slowest speed motor can go

virtual void	setMaxDriverRangeAmount (float _driverRangeAmount)=0
	set what fraction of driverRange can be used

virtual float	getAccelLimit ()=0
	returns value of accelLimit

virtual float	getVelLimit ()=0
	returns value of velLimit

Detailed Description

This class defines a common interface for classes which control velocity and position of a motor controlled by a JMotorDriver.

Member Function Documentation

◆ getPos()

virtual float JMotorController::getPos ( )

pure virtual

get what position the motor is currently at

Return values

(float)

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ getPosSetpoint()

virtual float JMotorController::getPosSetpoint ( )

pure virtual

get position controller is currently trying to get to

Return values

(float)

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ getPosTarget()

virtual float JMotorController::getPosTarget ( )

pure virtual

get position set as target (for smoothed position setting mode)

Return values

(float)

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ isPosModeNotVelocity()

virtual bool JMotorController::isPosModeNotVelocity ( )

pure virtual

true if controller is in position target mode, false if in velocity mode

Return values

(bool)

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ resetPos()

virtual float JMotorController::resetPos ( )

pure virtual

reset what position the controller thinks it's in

Note: don't drive too far without resetting this so that the limited precision of floats doesn't become a problem.

Return values

(float) returns old position

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ setPosDelta()

virtual bool JMotorController::setPosDelta	(	float	_posDelta,
		bool	_run = `true`,
		bool	_resetPos = `false`
	)

pure virtual

alternative method for setting velocity that uses setPosSetpoint

Note: handles velocities below getMinVel(), and may have better distance accuracy, doesn't smooth velocity

Parameters

_posDelta	(float) basically velocity
_resetPos	(bool) default=false, keep setting current position to zero
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the setting change?

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ setPosSetpoint()

virtual bool JMotorController::setPosSetpoint	(	float	_posSetpoint,
		bool	_run = `true`
	)

pure virtual

set position for motor to drive towards position as fast as possible (setpoint for control loop if available)

Note: run() needs to be called in order for the motor to move

Parameters

_posSetpoint	(float) position setpoint
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the setpoint change?

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ setPosTarget()

virtual bool JMotorController::setPosTarget	(	float	_posTarget,
		bool	_run = `true`
	)

pure virtual

set target position (motor drives towards position, following acceleration profile)

Parameters

_posTarget	(float) target position
_run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

(bool) did the target change?

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ setVelLimit()

virtual void JMotorController::setVelLimit ( float _velLimit )

pure virtual

set maximum motor speed

Note: set to INFINITY to disable limit

Parameters

_velLimit (float)

Implements JMotorControllerBase.

Implemented in JMotorControllerClosed, JMotorControllerOpen, and JServoController.

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

src/JMotorController/JMotorController.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ getPos()

◆ getPosSetpoint()

◆ getPosTarget()

◆ isPosModeNotVelocity()

◆ resetPos()

◆ setPosDelta()

◆ setPosSetpoint()

◆ setPosTarget()

◆ setVelLimit()