Motor class to control the motors. More...

#include <motor.h>

Public Member Functions
	Motor (PinName left, PinName right, PinName direction_left, PinName direction_right, PinName enable)
	Constructor. More...

void	setEnable (int enable)
	Set the enable pin of the motor driver board, given the enable. More...

void	setEnable ()
	Toggle the enable pin of the motor driver board, if no argument is given. More...

int	getEnable ()
	Get the enable status of the motor driver board. More...

void	setFrequency (float frequency)
	Set the frequency of the PwmOut. More...

float	getFrequency () const
	Get the frequency of the PwmOut. More...

void	setDirection (char c, int direction)
	Set the direction of the motors, provided the direction. More...

void	setDirection (char c)
	Toggle the direction of the motors, if no direction given. More...

std::pair< int, int >	getDirection () const
	Get the direction of the motors. More...

void	setDutycycle (char c, float dutycycle)
	Set the duty cycle of the motors. More...

std::pair< float, float >	getDutycycle ()
	Get the duty cycle of the motors. More...

Static Public Member Functions
Cruising Methods
All cruising methods to control the motors include forward, reverse, turnleft and turnright. All methods apply the following sequence: Disable the enable pin. Set the direction of the motors. Set the duty cycle of the motors. Reset the counter of the encoders. Toggle enable pin. When Encoder::getDistance() > distance : Disable enable pin.
static void	forward (const double distance, Motor const motor, Encoder const left_encoder, Encoder *const right_encoder)
	Control the motor to cruise forward. More...

static void	reverse (const double distance, Motor const motor, Encoder const left_encoder, Encoder *const right_encoder)
	Control the motor to cruise backwards. More...

static void	turnleft (const double angle, Motor const motor, Encoder const left_encoder, Encoder *const right_encoder)
	Control the motor to turn left. More...

static void	turnright (const double angle, Motor const motor, Encoder const left_encoder, Encoder *const right_encoder)
	Control the motor to turn right. More...

Public Attributes
PwmOut	left_motor
	Left motor PwmOut. More...

PwmOut	right_motor
	Right motor PwmOut. More...

Private Attributes
DigitalOut	m_direction_left
	Direction for the left motor. More...

DigitalOut	m_direction_right
	Direction for the right motor. More...

DigitalOut	m_enable
	Enable pin to motor driver board. More...

float	m_period
	Period of PWM output. More...

Detailed Description

Motor class to control the motors.

This class includes configuration method of left and right motors. It also features cruising methods to move forward, backwards, turn left and turn left.

Constructor & Destructor Documentation

◆ Motor()

Motor::Motor	(	PinName	left,
		PinName	right,
		PinName	direction_left,
		PinName	direction_right,
		PinName	enable
	)

Constructor.

Construct a motor object. Using unipolar mode (0), pins are sunk to ground instead of using DigitalOut.write(0).

Parameters

left	Left motor pin.
right	Right motor pin.
direction_left	Direction left motor.
direction_right	Direction right motor.
enable	Enable pin.

Member Function Documentation

◆ setEnable() [1/2]

void Motor::setEnable ( int enable )

Set the enable pin of the motor driver board, given the enable.

Parameters

enable

1 Enabled
0 Disabled

◆ setEnable() [2/2]

void Motor::setEnable ( )

Toggle the enable pin of the motor driver board, if no argument is given.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ getEnable()

int Motor::getEnable ( )

Get the enable status of the motor driver board.

Returns

int Enable status.

1 Enabled.
0 Disabled.

◆ setFrequency()

void Motor::setFrequency ( float frequency )

Set the frequency of the PwmOut.

Parameters

frequency Frequency of the PWM.

◆ getFrequency()

float Motor::getFrequency ( ) const

Get the frequency of the PwmOut.

Returns: float Frequency of the PWM.

◆ setDirection() [1/2]

void Motor::setDirection	(	char	c,
		int	direction
	)

Set the direction of the motors, provided the direction.

Parameters

c	Which motor direction to change. 'L' for left motor. 'R' for right motor. otherwise for both motors.
direction	1 forward. 0 reverse.

◆ setDirection() [2/2]

void Motor::setDirection ( char c )

Toggle the direction of the motors, if no direction given.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

c	Which motor direction to change. 'L' for left motor. 'R' for right motor. otherwise for both motors.

◆ getDirection()

std::pair< int, int > Motor::getDirection ( ) const

Get the direction of the motors.

Returns: std::pair<int,int> { m_direction_left, m_direction_right }.

◆ setDutycycle()

void Motor::setDutycycle	(	char	c,
		float	dutycycle
	)

Set the duty cycle of the motors.

Parameters

c	Which motor to set duty cycle. 'L' Left motor. 'R' Right motor. otherwise both motors.
dutycycle	Duty cycle in percentange within [0.0,1.0]. If duty cycle is out of range, it saturates at 0 and 1.

◆ getDutycycle()

std::pair< float, float > Motor::getDutycycle ( )

Get the duty cycle of the motors.

Returns: std::pair<float,float> {Left motor duty cycle, Right motor duty cycle}.

◆ forward()

static void Motor::forward	(	const double	distance,
		Motor *const	motor,
		Encoder *const	left_encoder,
		Encoder *const	right_encoder
	)

static

Control the motor to cruise forward.

Parameters

distance	Distance to travelled before stopping.
motor	Motor object.
left_encoder	Left Encoder object.
right_encoder	Right Encoder object.

◆ reverse()

static void Motor::reverse	(	const double	distance,
		Motor *const	motor,
		Encoder *const	left_encoder,
		Encoder *const	right_encoder
	)

static

Control the motor to cruise backwards.

Parameters

distance	Distance to travelled before stopping.
motor	Motor object.
left_encoder	Left Encoder object.
right_encoder	Right Encoder object.

◆ turnleft()

static void Motor::turnleft	(	const double	angle,
		Motor *const	motor,
		Encoder *const	left_encoder,
		Encoder *const	right_encoder
	)

static

Control the motor to turn left.

Parameters

angle	Angle to make before stopping.
motor	Motor object.
left_encoder	Left Encoder object.
right_encoder	Right Encoder object.

◆ turnright()

static void Motor::turnright	(	const double	angle,
		Motor *const	motor,
		Encoder *const	left_encoder,
		Encoder *const	right_encoder
	)

static

Control the motor to turn right.

Parameters

angle	Angle to make before stopping.
motor	Motor object.
left_encoder	Left Encoder object.
right_encoder	Right Encoder object.

Member Data Documentation

◆ m_direction_left

DigitalOut Motor::m_direction_left

private

Direction for the left motor.

◆ m_direction_right

DigitalOut Motor::m_direction_right

private

Direction for the right motor.

◆ m_enable

DigitalOut Motor::m_enable

private

Enable pin to motor driver board.

◆ m_period

float Motor::m_period

private

Period of PWM output.

\({m\_period} = \frac{1}{frequency}\\\)

◆ left_motor

PwmOut Motor::left_motor

Left motor PwmOut.

◆ right_motor

PwmOut Motor::right_motor

Right motor PwmOut.

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

/github/workspace/include/motor/motor.h

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Motor()

Member Function Documentation

◆ setEnable() [1/2]

◆ setEnable() [2/2]

◆ getEnable()

◆ setFrequency()

◆ getFrequency()

◆ setDirection() [1/2]

◆ setDirection() [2/2]

◆ getDirection()

◆ setDutycycle()

◆ getDutycycle()

◆ forward()

◆ reverse()

◆ turnleft()

◆ turnright()

Member Data Documentation

◆ m_direction_left

◆ m_direction_right

◆ m_enable

◆ m_period

◆ left_motor

◆ right_motor