robotCore.SmartMotor Class Reference

Smart motor controller class. More...

Inheritance diagram for robotCore.SmartMotor:

Classes
enum	SmartMotorMode
	Specifies the type of control. More...
enum	SmartMotorType
	Specifies the type of motor. More...

Public Member Functions
	SmartMotor (SmartMotorType type, int pwmPin, int dirPin)
	SmartMotor (SmartMotorType type, int pwmPin, int dirPin, int i2cAddr)
	SmartMotor (int pin, int min, int zero, int max)
	SmartMotor (int pin, int min, int zero, int max, int i2cAddr)
void	setMaxSpeed (double maxSpeed)
void	set (double value)
void	setFeedbackDevice (Encoder encoder)
Encoder	getFeedbackDevice ()
void	setControlMode (SmartMotorMode mode)
void	setFTerm (double f)
void	setITerm (double i)
void	setPTerm (double p)
void	setIZone (double z)
void	setInverted (boolean invert)
void	disable ()
void	enable ()

Detailed Description

Smart motor controller class.

Author

John Gaby

This class serves as the base class for the different types of motors It can handle advanced motor control using PID to control of the motor speed.

Constructor & Destructor Documentation

SmartMotor() [1/4]

robotCore.SmartMotor.SmartMotor	(	SmartMotorType	type,
		int	pwmPin,
		int	dirPin
	)

Creates an instance of a PWM duty cycle motor using 1 or 2 pins

Parameters

type	- Specifies the type of motor
pwmPin	- Specifies the pin for the PWM signal
dirPin	- Specifies the pin for the direction control. If this value is zero then only the pwmPin is used and the motor cannot be reversed.

SmartMotor() [2/4]

robotCore.SmartMotor.SmartMotor	(	SmartMotorType	type,
		int	pwmPin,
		int	dirPin,
		int	i2cAddr
	)

Creates instance of a PWM duty cycle motor using 1 or 2 pins when the motor is connected to an auxiliary Arduino via i2c

Parameters

type	- Specifies the type of motor
pwmPin	- Specifies the pin for the PWM signal
dirPin	- Specifies the pin for the direction control. If this value is zero then only the pwmPin is used and the motor cannot be reversed.
i2cAddr	- Specifies the address of the i2c connected Arduino

SmartMotor() [3/4]

robotCore.SmartMotor.SmartMotor	(	int	pin,
		int	min,
		int	zero,
		int	max
	)

Creates an instance of a servo style motor

Parameters

pin	- Specifies the pin servo signal
min	- Specifies the minimum (full reverse) PWM time in ms
zero	- Specifies the zero (stop) PWM time in ms.
max	- Specifies the max (full forward) PWM time in ms.

SmartMotor() [4/4]

robotCore.SmartMotor.SmartMotor	(	int	pin,
		int	min,
		int	zero,
		int	max,
		int	i2cAddr
	)

Creates instance of a servo style motor when the motor is connected to an auxiliary Arduino via i2c

Parameters

pin	- Specifies the pin servo signal
min	- Specifies the minimum (full reverse) PWM time in ms
zero	- Specifies the zero (stop) PWM time in ms.
max	- Specifies the max (full forward) PWM time in ms.
i2cAddr	- Specifies the address of the i2c connected Arduino

Member Function Documentation

disable()

void robotCore.SmartMotor.disable

(

)

Disables the motor.

Reimplemented from robotCore.MotorBase.

enable()

void robotCore.SmartMotor.enable

(

)

Enables the motor.

Reimplemented from robotCore.MotorBase.

getFeedbackDevice()

Encoder robotCore.SmartMotor.getFeedbackDevice

(

)

Returns

Returns the current feedback device

set()

void robotCore.SmartMotor.set

(

double

value

)

Parameters

value

- Sets either the power or the speed depending on the current mode. If the motor is in power mode, this should be in the range -1 to +1. If the motor is in speed mode, then this should either be the desired speed, or -1 to +1 if the maxSpeed value has been set.

setControlMode()

void robotCore.SmartMotor.setControlMode

(

SmartMotorMode

mode

)

Parameters

mode	- Sets the current control mode.

setFeedbackDevice()

void robotCore.SmartMotor.setFeedbackDevice

(

Encoder

encoder

)

Parameters

encoder

- Specifies the feedback device to be used to control the speed.

setFTerm()

void robotCore.SmartMotor.setFTerm

(

double

f

)

Parameters

f	- Specifies the 'feed forward' term for the PID control.

setInverted()

void robotCore.SmartMotor.setInverted

(

boolean

invert

)

Parameters

invert

- If true then the direction of the motor is reversed

setITerm()

void robotCore.SmartMotor.setITerm

(

double

i

)

Parameters

i	- Specifies the integral term for the PID control.

setIZone()

void robotCore.SmartMotor.setIZone

(

double

z

)

Parameters

z	- Specifies the I Zone term for the PID control. This is the region outside of which, the I term is ignored.

setMaxSpeed()

void robotCore.SmartMotor.setMaxSpeed

(

double

maxSpeed

)

Parameters

maxSpeed

- Specifies the maximum speed of the motor. Setting this value allows control of the speed using the range -1 to +1 similar to when the motor is controlled by power.

setPTerm()

void robotCore.SmartMotor.setPTerm

(

double

p

)

Parameters

p	- Specifies the proportional term for the PID control.

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

• D:/SDASVN/2022/RaspberryPi/Source/robotCore/SmartMotor.java