A motor controller object that uses a JMotorCompensator to set velocity of a motor. More...

#include <JMotorControllerBasic.h>

Inheritance diagram for JMotorControllerBasic:

[legend]

Collaboration diagram for JMotorControllerBasic:

[legend]

Public Member Functions
	JMotorControllerBasic (JMotorDriver &_driver, JMotorCompensator &_compensator, float _velLimit=INFINITY, float _accelLimit=INFINITY)
	constructor

void	setAccelLimit (float _accelLimit)
	set maximum rate that motor speed can be changed at

void	setVelLimit (float _velLimit)
	set maximum motor speed

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

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

float	getVelTarget ()
	get target velocity for controller

float	getVel ()
	get current velocity of motor

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

void	run ()
	update driver

bool	setEnable (bool _enable)
	change whether motor controller is enabled

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

bool	enable ()
	enable motor controller

bool	disable ()
	disable motor controller

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

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

bool	getEnable ()
	is the controller enabled

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

float	getMinVel ()
	slowest speed motor can go

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

float	getVelLimit ()
	returns value of velLimit

float	getAccelLimit ()
	returns value of accelLimit

Protected Attributes
float	velocity

float	setVal

float	velocityTarget

float	accelLimit

float	velLimit

unsigned long	lastRunMicros

JMotorDriver &	driver

bool	driverInRange

JMotorCompensator &	compensator

Detailed Description

A motor controller object that uses a JMotorCompensator to set velocity of a motor.

Note: Open loop, and no position based commands

Constructor & Destructor Documentation

◆ JMotorControllerBasic()

JMotorControllerBasic::JMotorControllerBasic	(	JMotorDriver &	_driver,
		JMotorCompensator &	_compensator,
		float	_velLimit = `INFINITY`,
		float	_accelLimit = `INFINITY`
	)

inline

constructor

Parameters

_driver	(JMotorDriver)
_compensator	(JMotorCompensator)
_velLimit	max velocity (default: INFINITY)
_accelLimit	max acceleration allowed for approaching velocityTarget, set to INFINITY for unlimited (default: INFINITY)

Member Function Documentation

◆ disable()

bool JMotorControllerBasic::disable ( )

inlinevirtual

disable motor controller

Return values

(bool) true if state changed

Implements JMotorControllerBase.

◆ enable()

bool JMotorControllerBasic::enable ( )

inlinevirtual

enable motor controller

Return values

(bool) true if state changed

Implements JMotorControllerBase.

◆ getAccelLimit()

float JMotorControllerBasic::getAccelLimit ( )

inlinevirtual

returns value of accelLimit

Return values

(float)

Implements JMotorControllerBase.

◆ getDriverMaxRange()

float JMotorControllerBasic::getDriverMaxRange ( )

inlinevirtual

if getDriverSetVal exceeds this, isDriverInRange will go false

Return values

(float)

Implements JMotorControllerBase.

◆ getDriverMinRange()

float JMotorControllerBasic::getDriverMinRange ( )

inlinevirtual

if getDriverSetVal goes below this, isDriverInRange will go false

Return values

(float)

Implements JMotorControllerBase.

◆ getDriverSetVal()

float JMotorControllerBasic::getDriverSetVal ( )

inlinevirtual

returns the value the motor driver is being set to

Return values

(float)

Implements JMotorControllerBase.

◆ getEnable()

bool JMotorControllerBasic::getEnable ( )

inlinevirtual

is the controller enabled

Return values

(bool)

Implements JMotorControllerBase.

◆ getMaxVel()

float JMotorControllerBasic::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)

Implements JMotorControllerBase.

◆ getMinVel()

float JMotorControllerBasic::getMinVel ( )

inlinevirtual

slowest speed motor can go

Implements JMotorControllerBase.

◆ getVel()

float JMotorControllerBasic::getVel ( )

inlinevirtual

get current velocity of motor

Return values

(float)

Implements JMotorControllerBase.

◆ getVelLimit()

float JMotorControllerBasic::getVelLimit ( )

inlinevirtual

returns value of velLimit

Return values

(float)

Implements JMotorControllerBase.

◆ getVelTarget()

float JMotorControllerBasic::getVelTarget ( )

inlinevirtual

get target velocity for controller

Return values

(float) current velocity target

Implements JMotorControllerBase.

◆ isDriverInRange()

bool JMotorControllerBasic::isDriverInRange ( )

inlinevirtual

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

Return values

(bool)

Implements JMotorControllerBase.

◆ run()

void JMotorControllerBasic::run ( )

inlinevirtual

update driver

Note: call this function as frequently as possible

Implements JMotorControllerBase.

Reimplemented in JMotorControllerOpen.

◆ setAccelLimit()

void JMotorControllerBasic::setAccelLimit ( float _accelLimit )

inlinevirtual

set maximum rate that motor speed can be changed at

Note: set to INFINITY to disable acceleration limiting

Parameters

_accelLimit (float)

Implements JMotorControllerBase.

Reimplemented in JMotorControllerOpen.

◆ setEnable()

bool JMotorControllerBasic::setEnable ( bool _enable )

inlinevirtual

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

Implements JMotorControllerBase.

Reimplemented in JMotorControllerOpen.

◆ setMaxDriverRangeAmount()

void JMotorControllerBasic::setMaxDriverRangeAmount ( float _driverRangeAmount )

inlinevirtual

set what fraction of driverRange can be used

Parameters

_driverRangeAmount (float)

Implements JMotorControllerBase.

◆ setVel()

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

inlinevirtual

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

Implements JMotorControllerBase.

Reimplemented in JMotorControllerOpen.

◆ setVelLimit()

void JMotorControllerBasic::setVelLimit ( float _velLimit )

inlinevirtual

set maximum motor speed

Note: set to INFINITY to disable velocity limiting

Parameters

_velLimit (float)

Implements JMotorControllerBase.

Reimplemented in JMotorControllerOpen.

◆ setVelTarget()

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

inlinevirtual

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

Implements JMotorControllerBase.

Reimplemented in JMotorControllerOpen.

Member Data Documentation

◆ accelLimit

float JMotorControllerBasic::accelLimit

protected

◆ compensator

JMotorCompensator& JMotorControllerBasic::compensator

protected

◆ driver

JMotorDriver& JMotorControllerBasic::driver

protected

◆ driverInRange

bool JMotorControllerBasic::driverInRange

protected

◆ lastRunMicros

unsigned long JMotorControllerBasic::lastRunMicros

protected

◆ setVal

float JMotorControllerBasic::setVal

protected

◆ velLimit

float JMotorControllerBasic::velLimit

protected

◆ velocity

float JMotorControllerBasic::velocity

protected

◆ velocityTarget

float JMotorControllerBasic::velocityTarget

protected

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

src/JMotorController/JMotorControllerBasic.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JMotorControllerBasic()

Member Function Documentation

◆ disable()

◆ enable()

◆ getAccelLimit()

◆ getDriverMaxRange()

◆ getDriverMinRange()

◆ getDriverSetVal()

◆ getEnable()

◆ getMaxVel()

◆ getMinVel()

◆ getVel()

◆ getVelLimit()

◆ getVelTarget()

◆ isDriverInRange()

◆ run()

◆ setAccelLimit()

◆ setEnable()

◆ setMaxDriverRangeAmount()

◆ setVel()

◆ setVelLimit()

◆ setVelTarget()

Member Data Documentation

◆ accelLimit

◆ compensator

◆ driver

◆ driverInRange

◆ lastRunMicros

◆ setVal

◆ velLimit

◆ velocity

◆ velocityTarget