This class controls velocity and position of a motor without any encoder feedback. More...

#include <JMotorControllerOpen.h>

Inheritance diagram for JMotorControllerOpen:

[legend]

Collaboration diagram for JMotorControllerOpen:

[legend]

Public Member Functions
	JMotorControllerOpen (JMotorDriver &_driver, JMotorCompensator &_compensator, float _velLimit=INFINITY, float _accelLimit=INFINITY, unsigned long _minMotorPulseTime=0)
	Constructor for an object that controls a motor, and can smooth the motion of the motor and go approximately to a position.

void	run ()
	update driver

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

bool	setPosTarget (float _posTarget, bool _run=true)
	set target position (motor drives towards position, following acceleration profile)

bool	setPosSetpoint (float _posSetpoint, bool _run=true)
	set position for motor to drive towards position as fast as possible (setpoint for control loop if available)

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

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

float	getPosSetpoint ()
	get position controller is currently trying to get to

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

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

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

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)

void	setVelLimit (float _velLimit)
	set maximum motor speed

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

void	setVelAccelLimits (float _vel, float _accel)
	set velocity and acceleration limits for motor

void	setMinMotorPulseTime (unsigned long _minMotorPulseTime)
	At low speeds in setPosDelta the motor cycles between min speed and stopped. What is the minimum pulse that makes the motor move, in MICROseconds?

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

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

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

Public Attributes
Derivs_Limiter	dL
	use functions from JMotorControllerOpen whenever possible, but the Derivs_Limiter object is public in case you need to change a setting like dL.setPreventGoingWrongWay()

Protected Attributes
bool	posMode

bool	smoothedMode

float	position

float	positionTarget

float	posDelta

unsigned long	lastRunOpenMicros

unsigned long	minMotorPulseTime

unsigned long	lastPosDeltaWrite

Protected Attributes inherited from JMotorControllerBasic
float	velocity

float	setVal

float	velocityTarget

float	accelLimit

float	velLimit

unsigned long	lastRunMicros

JMotorDriver &	driver

bool	driverInRange

JMotorCompensator &	compensator

Detailed Description

This class controls velocity and position of a motor without any encoder feedback.

Constructor & Destructor Documentation

◆ JMotorControllerOpen()

JMotorControllerOpen::JMotorControllerOpen	(	JMotorDriver &	_driver,
		JMotorCompensator &	_compensator,
		float	_velLimit = `INFINITY`,
		float	_accelLimit = `INFINITY`,
		unsigned long	_minMotorPulseTime = `0`
	)

inline

Constructor for an object that controls a motor, and can smooth the motion of the motor and go approximately to a position.

Parameters

_driver	reference to a JMotorDriver
_compensator	reference to a JMotorCompensator
_velLimit	float, default INFINITY
_accelLimit	float, default INFINITY
_minMotorPulseTime	unsigned long, default 0. At low speeds in setPosDelta the motor cycles between min speed and stopped. What is the minimum pulse that makes the motor move, in MICROseconds?

Member Function Documentation

◆ getPos()

float JMotorControllerOpen::getPos ( )

inlinevirtual

get what position the motor is currently at

Return values

(float)

Implements JMotorController.

◆ getPosSetpoint()

float JMotorControllerOpen::getPosSetpoint ( )

inlinevirtual

get position controller is currently trying to get to

Return values

(float)

Implements JMotorController.

◆ getPosTarget()

float JMotorControllerOpen::getPosTarget ( )

inlinevirtual

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

Return values

(float)

Implements JMotorController.

◆ isPosModeNotVelocity()

bool JMotorControllerOpen::isPosModeNotVelocity ( )

inlinevirtual

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

Return values

(bool)

Implements JMotorController.

◆ resetPos()

float JMotorControllerOpen::resetPos ( )

inlinevirtual

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

Implements JMotorController.

◆ run()

void JMotorControllerOpen::run ( )

inlinevirtual

update driver

Note: call this function as frequently as possible

Implements JMotorControllerBase.

◆ setAccelLimit()

void JMotorControllerOpen::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.

◆ setEnable()

bool JMotorControllerOpen::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.

◆ setMinMotorPulseTime()

void JMotorControllerOpen::setMinMotorPulseTime ( unsigned long _minMotorPulseTime )

inline

At low speeds in setPosDelta the motor cycles between min speed and stopped. What is the minimum pulse that makes the motor move, in MICROseconds?

Parameters

_minMotorPulseTime unsigned long

◆ setPosDelta()

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

inlinevirtual

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?

Implements JMotorController.

◆ setPosSetpoint()

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

inlinevirtual

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?

Implements JMotorController.

◆ setPosTarget()

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

inlinevirtual

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?

Implements JMotorController.

◆ setVel()

void JMotorControllerOpen::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.

◆ setVelAccelLimits()

void JMotorControllerOpen::setVelAccelLimits	(	float	_vel,
		float	_accel
	)

inline

set velocity and acceleration limits for motor

Parameters

_vel
_accel

Return values

None

◆ setVelLimit()

void JMotorControllerOpen::setVelLimit ( float _velLimit )

inlinevirtual

set maximum motor speed

Note: set to INFINITY to disable limit

Parameters

_velLimit (float)

Implements JMotorController.

◆ setVelTarget()

void JMotorControllerOpen::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.

Member Data Documentation

◆ dL

Derivs_Limiter JMotorControllerOpen::dL

use functions from JMotorControllerOpen whenever possible, but the Derivs_Limiter object is public in case you need to change a setting like dL.setPreventGoingWrongWay()

Note: https://github.com/joshua-8/Derivs_Limiter

◆ lastPosDeltaWrite

unsigned long JMotorControllerOpen::lastPosDeltaWrite

protected

◆ lastRunOpenMicros

unsigned long JMotorControllerOpen::lastRunOpenMicros

protected

◆ minMotorPulseTime

unsigned long JMotorControllerOpen::minMotorPulseTime

protected

◆ posDelta

float JMotorControllerOpen::posDelta

protected

◆ position

float JMotorControllerOpen::position

protected

◆ positionTarget

float JMotorControllerOpen::positionTarget

protected

◆ posMode

bool JMotorControllerOpen::posMode

protected

◆ smoothedMode

bool JMotorControllerOpen::smoothedMode

protected

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

src/JMotorController/JMotorControllerOpen.h

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JMotorControllerOpen()

Member Function Documentation

◆ getPos()

◆ getPosSetpoint()

◆ getPosTarget()

◆ isPosModeNotVelocity()

◆ resetPos()

◆ run()

◆ setAccelLimit()

◆ setEnable()

◆ setMinMotorPulseTime()

◆ setPosDelta()

◆ setPosSetpoint()

◆ setPosTarget()

◆ setVel()

◆ setVelAccelLimits()

◆ setVelLimit()

◆ setVelTarget()

Member Data Documentation

◆ dL

◆ lastPosDeltaWrite

◆ lastRunOpenMicros

◆ minMotorPulseTime

◆ posDelta

◆ position

◆ positionTarget

◆ posMode

◆ smoothedMode