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

#include <JMotorControllerBase.h>

Inheritance diagram for JMotorControllerBase:

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

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

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 of a motor controlled by a JMotorDriver.

Member Function Documentation

◆ disable()

virtual bool JMotorControllerBase::disable ( )

pure virtual

disable motor controller

Return values

(bool) true if state changed

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ enable()

virtual bool JMotorControllerBase::enable ( )

pure virtual

enable motor controller

Return values

(bool) true if state changed

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getAccelLimit()

virtual float JMotorControllerBase::getAccelLimit ( )

pure virtual

returns value of accelLimit

Return values

(float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getDriverMaxRange()

virtual float JMotorControllerBase::getDriverMaxRange ( )

pure virtual

if getDriverSetVal exceeds this, isDriverInRange will go false

Return values

(float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getDriverMinRange()

virtual float JMotorControllerBase::getDriverMinRange ( )

pure virtual

if getDriverSetVal goes below this, isDriverInRange will go false

Return values

(float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getDriverSetVal()

virtual float JMotorControllerBase::getDriverSetVal ( )

pure virtual

returns the value the motor driver is being set to

Return values

(float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getEnable()

virtual bool JMotorControllerBase::getEnable ( )

pure virtual

is the controller enabled

Return values

(bool)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getMaxVel()

virtual float JMotorControllerBase::getMaxVel ( )

pure 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)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getMinVel()

virtual float JMotorControllerBase::getMinVel ( )

pure virtual

slowest speed motor can go

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getVel()

virtual float JMotorControllerBase::getVel ( )

pure virtual

get current velocity of motor

Return values

(float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getVelLimit()

virtual float JMotorControllerBase::getVelLimit ( )

pure virtual

returns value of velLimit

Return values

(float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ getVelTarget()

virtual float JMotorControllerBase::getVelTarget ( )

pure virtual

get target velocity for controller

Return values

(float) current velocity target

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ isDriverInRange()

virtual bool JMotorControllerBase::isDriverInRange ( )

pure virtual

true if motor driver is being set to within its range, false if driver is at a maximum

Return values

(bool)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ run()

virtual void JMotorControllerBase::run ( )

pure virtual

update driver

Note: call this function as frequently as possible

Implemented in JMotorControllerBasic, JMotorControllerClosed, JMotorControllerOpen, JServoController, JServoControllerAdvanced, JServoControllerGentle, and JServoControllerStallProtected.

◆ setAccelLimit()

virtual void JMotorControllerBase::setAccelLimit ( float _accelLimit )

pure virtual

set maximum rate that motor speed can be changed at

Note: set to INFINITY to disable acceleration limiting

Parameters

_accelLimit (float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ setEnable()

virtual bool JMotorControllerBase::setEnable ( bool _enable )

pure virtual

change whether motor controller is enabled

Parameters

_enable (bool)

Note: velocity related variables are reset to zero on disable. you can set velocity then enable

Return values

(bool) true if state changed

Implemented in JMotorControllerBasic, JMotorControllerClosed, JMotorControllerOpen, JServoController, and JServoControllerAdvanced.

◆ setMaxDriverRangeAmount()

virtual void JMotorControllerBase::setMaxDriverRangeAmount ( float _driverRangeAmount )

pure virtual

set what fraction of driverRange can be used

Parameters

_driverRangeAmount (float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, and JServoController.

◆ setVel()

virtual void JMotorControllerBase::setVel	(	float	vel,
		bool	_run = `true`
	)

pure virtual

set velocity for controller

Note: this function can be called repeatedly, or just once if run() is called frequently

Parameters

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

Implemented in JMotorControllerBasic, JMotorControllerClosed, JMotorControllerOpen, and JServoController.

◆ setVelLimit()

virtual void JMotorControllerBase::setVelLimit ( float _velLimit )

pure virtual

set maximum motor speed

Note: set to INFINITY to disable velocity limiting

Parameters

_velLimit (float)

Implemented in JMotorControllerBasic, JMotorControllerClosed, JMotorControllerOpen, JMotorController, and JServoController.

◆ setVelTarget()

virtual void JMotorControllerBase::setVelTarget	(	float	vel,
		bool	_run = `true`
	)

pure virtual

set target velocity for controller (acceleration limited)

Note: this function can be called repeatedly, or just once if run() is called frequently

Parameters

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

Implemented in JMotorControllerBasic, JMotorControllerClosed, JMotorControllerOpen, and JServoController.

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

src/JMotorController/JMotorControllerBase.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ disable()

◆ enable()

◆ getAccelLimit()

◆ getDriverMaxRange()

◆ getDriverMinRange()

◆ getDriverSetVal()

◆ getEnable()

◆ getMaxVel()

◆ getMinVel()

◆ getVel()

◆ getVelLimit()

◆ getVelTarget()

◆ isDriverInRange()

◆ run()

◆ setAccelLimit()

◆ setEnable()

◆ setMaxDriverRangeAmount()

◆ setVel()

◆ setVelLimit()

◆ setVelTarget()