Practical Robotics Modular Robot Library
motors.h
- Committer:
- jah128
- Date:
- 2017-01-02
- Revision:
- 5:6da8daaeb9f7
- Parent:
- 3:8762f6b2ea8d
File content as of revision 5:6da8daaeb9f7:
#ifndef MOTORS_H #define MOTORS_H /** * The Motors class contains the functions to control the robots motors */ class Motors { public: /** * Setup the PWM based H-Bridge drivers for the motors */ void init(void); /** * Returns the current [adjusted] value for the target left motor speed * * @returns The speed value from -1.0 to 1.0 */ float get_left_motor_speed(void); /** * Returns the current [adjusted] value for the target right motor speed * * @returns The speed value from -1.0 to 1.0 */ float get_right_motor_speed(void); /** * Calls set_left_motor_speed and set_right_motor_speed with equal values * * @params speed - The forward speed value from -1.0 to 1.0 */ void forwards(float speed); /** * Calls set_left_motor_speed and set_right_motor_speed with equal inverse values * * @params speed - The forward speed value from -1.0 (max forwards) to 1.0 (max reverse) */ void backwards(float speed); /** * Calls set_left_motor_speed and set_right_motor_speed with sign-opposite values * * @params speed - The forward speed value from -1.0 (max counterclockwise) to 1.0 (max clockwise) */ void turn(float speed); /** * Put the H-Bridge drivers in sleep (low-power) mode */ void sleep(void); /** * Wake the H-Bridge drivers from sleep mode */ void wake_up(void); /** * Set the left H-Bridge driver to high-Z (coast mode) for the motor */ void coast_left(void); /** * Set the left H-Bridge driver to active brake */ void brake_left(void); /** * Set the speed and direction of the left-motor H-Bridge driver * * @param speed - A value between -1.0 [max reverse], 0 [coast] and 1.0 [max forward] */ void set_left_motor_speed(float speed); /** * Set the right H-Bridge driver to high-Z (coast mode) for the motor */ void coast_right(void); /** * Set the right H-Bridge driver to active brake */ void brake_right(void); /** * Set both H-Bridge drivers to high-Z (coast mode) for the motor */ void coast(void); /** * Set both H-Bridge drivers to active brake */ void brake(void); /** * Set the speed and direction of the right-motor H-Bridge driver * * @param speed - A value between -1.0 [max reverse], 0 [coast] and 1.0 [max forward] */ void set_right_motor_speed(float speed); /** * Get the approximate instantaneous current draw of the left-motor H-Bridge driver * * @returns The current value in A */ float get_current_left(void); /** * Get the approximate instantaneous current draw of the right-motor H-Bridge driver * * @returns The current value in A */ float get_current_right(void); /** * Calculates an adjusted speed value to avoid stalls at low-speeds if USE_STALL_OFFSET is set to 1 [in robot.h] * @params speed_in - The speed value from 0.0 to 1.0 * @returns The adjusted speed value from 0.0 to 1.0, increased by STALL_OFFSET then scaled to fit */ float get_adjusted_speed(float speed_in); /** * Sets the PWM period in microseconds (minimum value set to 10 for 100kHZ PWM) */ void set_pwm_period(int period_in); }; #endif