Device::Motors Class Reference

#include <motors.h>

Public Types
enum class	motor_id_t : uint8_t { LEFT = 0 , RIGHT = 1 }
enum class	motor_direction_t : uint8_t { FORWARD = 0 , BACKWARD = 1 }

Public Member Functions
	Motors (Robot &robot)
	~Motors ()
void	initialize ()
	Sets up the necessary GPIO pins and LEDC channels.
void	stop (motor_id_t motor_id, uint16_t ramp_time=DEFAULT_RAMP_TIME_MS) const
	Stops the given motor by gradually reducing speed for a smooth stop.
void	hard_stop (motor_id_t motor_id) const
	Stops the given motor abruptly without ramping.
void	set_speed (motor_id_t motor_id, uint16_t speed, uint16_t ramp_time=DEFAULT_RAMP_TIME_MS) const
	Sets the speed of the given motor toward which it should accelerate.
void	set_direction (motor_id_t motor_id, motor_direction_t direction, uint16_t ramp_time=DEFAULT_RAMP_TIME_MS) const
	Sets the virtual direction of the given motor.
void	_set_speed (motor_id_t motor_id, uint16_t speed) const
	Physically sets the speed of the given motor.
void	_set_direction (motor_id_t motor_id, motor_direction_t direction) const
	Physically sets the direction of the given motor.

Static Public Member Functions
static void	enable_deep_sleep_hold ()
	Sets up the motor speed pins to stay low when the ESP32 goes into deep sleep mode.

Static Public Attributes
static constexpr uint8_t	NUM_MOTORS = 2
static constexpr uint16_t	MAX_MOTOR_SPEED = 820
static constexpr uint16_t	DEFAULT_RAMP_TIME_MS = 1000
static constexpr uint16_t	MIN_RAMP_TIME_MS = 100

Member Enumeration Documentation

motor_direction_t

enum class Device::Motors::motor_direction_t : uint8_t

strong

Enumerator
FORWARD
BACKWARD

motor_id_t

enum class Device::Motors::motor_id_t : uint8_t

strong

Enumerator
LEFT
RIGHT

Constructor & Destructor Documentation

Motors()

Device::Motors::Motors ( Robot & robot )

explicit

~Motors()

Device::Motors::~Motors

(

)

Member Function Documentation

_set_direction()

void Device::Motors::_set_direction	(	motor_id_t	motor_id,
		motor_direction_t	direction ) const

Physically sets the direction of the given motor.

Warning

Should never be used by any task except the ramp task

Parameters

motor_id	The id of the motor of which to set the direction
direction	The target direction to set the motor to

_set_speed()

void Device::Motors::_set_speed	(	motor_id_t	motor_id,
		uint16_t	speed ) const

Physically sets the speed of the given motor.

Warning

Should never be used by any task except the ramp task

Note

The motor will immediately begin turning at that exact speed

Parameters

motor_id	The id of the motor of which to set the speed
speed	The target speed to set the motor to

enable_deep_sleep_hold()

void Device::Motors::enable_deep_sleep_hold ( )

static

Sets up the motor speed pins to stay low when the ESP32 goes into deep sleep mode.

hard_stop()

void Device::Motors::hard_stop

(

motor_id_t

motor_id

)

const

Stops the given motor abruptly without ramping.

Parameters

motor_id

The id of the motor to stop

initialize()

void Device::Motors::initialize

(

)

Sets up the necessary GPIO pins and LEDC channels.

set_direction()

void Device::Motors::set_direction	(	motor_id_t	motor_id,
		motor_direction_t	direction,
		uint16_t	ramp_time = DEFAULT_RAMP_TIME_MS ) const

Sets the virtual direction of the given motor.

Parameters

motor_id	The id of the motor of which to set the direction
direction	The target direction to set the motor to
ramp_time	The time to take when ramping to that speed (default: DEFAULT_RAMP_TIME_MS)

set_speed()

void Device::Motors::set_speed	(	motor_id_t	motor_id,
		uint16_t	speed,
		uint16_t	ramp_time = DEFAULT_RAMP_TIME_MS ) const

Sets the speed of the given motor toward which it should accelerate.

Note

The motor will immediately begin accelerating towards the specified speed

Parameters

motor_id	The id of the motor of which to set the speed
speed	The target speed to set the motor to
ramp_time	The time to take when ramping to that speed (default: DEFAULT_RAMP_TIME_MS)

stop()

void Device::Motors::stop	(	motor_id_t	motor_id,
		uint16_t	ramp_time = DEFAULT_RAMP_TIME_MS ) const

Stops the given motor by gradually reducing speed for a smooth stop.

Parameters

motor_id	The id of the motor to stop
ramp_time	The time to take when ramping to that speed (default: DEFAULT_RAMP_TIME_MS)

Member Data Documentation

DEFAULT_RAMP_TIME_MS

uint16_t Device::Motors::DEFAULT_RAMP_TIME_MS = 1000

staticconstexpr

MAX_MOTOR_SPEED

uint16_t Device::Motors::MAX_MOTOR_SPEED = 820

staticconstexpr

MIN_RAMP_TIME_MS

uint16_t Device::Motors::MIN_RAMP_TIME_MS = 100

staticconstexpr

NUM_MOTORS

uint8_t Device::Motors::NUM_MOTORS = 2

staticconstexpr

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

• devices/motors/motors.h
• devices/motors/motors.cpp
• devices/motors/motors_hardware.cpp