trikControl::PowerMotor Class Reference

TRIK power motor. More...

#include <powerMotor.h>

Inheritance diagram for trikControl::PowerMotor:

Collaboration diagram for trikControl::PowerMotor:

Public Slots
void	setPower (int power, bool constrain=true) override
int	power () const override
void	powerOff () override
int	period () const
	Returns currently set period of a motor. More...
void	setPeriod (int period) override
	Sets current motor period. More...
void	brake (int durationMs=500) override
	Force brake for a short period of time followed by power off. More...
Public Slots inherited from trikControl::MotorInterface
virtual void	setPower (int power, bool constrain=true)=0
	Sets current motor power to specified value, 0 to stop motor. More...
virtual int	power () const =0
	Returns currently set power of a motor. More...
virtual void	powerOff ()=0
	Turns off motor. More...
virtual void	brake (int durationMs=500)=0
	Force brake state for durationMs and then powerOff() More...
virtual void	setPeriod (int uSec=20000)=0
	Set period for PWM generator. More...

Public Member Functions
	PowerMotor (const QString &port, const trikKernel::Configurer &configurer, MspCommunicatorInterface &communicator)
	Constructor. More...
	~PowerMotor () override
Status	status () const override
	Returns current status of the device. More...
int	minControl () const override
	Returns minimal value of control accepted by a motor (-90..90, 0..100, for example). More...
int	maxControl () const override
	Returns maximal value of control accepted by a motor (-90..90, 0..100, for example). More...
Public Member Functions inherited from trikControl::DeviceInterface
	DeviceInterface ()=default
virtual	~DeviceInterface ()=default

Additional Inherited Members
Public Types inherited from trikControl::MotorInterface
enum	Type { Type::powerMotor, Type::servoMotor }
Public Types inherited from trikControl::DeviceInterface
enum	Status {   Status::permanentFailure, Status::temporaryFailure, Status::off, Status::starting,   Status::ready, Status::stopping }
	Device status. More...
Static Public Member Functions inherited from trikControl::DeviceInterface
static Status	combine (const DeviceInterface &underlying, const DeviceInterface::Status &dependent)
	Helper method to return status of a device relying on other device to work. More...

Detailed Description

TRIK power motor.

Constructor & Destructor Documentation

PowerMotor::PowerMotor	(	const QString &	port,
		const trikKernel::Configurer &	configurer,
		MspCommunicatorInterface &	communicator
	)

Constructor.

Parameters

port	- port on which this motor is configured.
configurer	- configurer object containing preparsed XML files with motor parameters.
communicator	- I2C communicator to use to query sensor.

PowerMotor::~PowerMotor ( )

override

Member Function Documentation

void PowerMotor::brake ( int  durationMs = 500 )

overrideslot

Force brake for a short period of time followed by power off.

int PowerMotor::maxControl ( ) const

overridevirtual

Returns maximal value of control accepted by a motor (-90..90, 0..100, for example).

Implements trikControl::MotorInterface.

int PowerMotor::minControl ( ) const

overridevirtual

Returns minimal value of control accepted by a motor (-90..90, 0..100, for example).

Implements trikControl::MotorInterface.

int PowerMotor::period ( ) const

slot

Returns currently set period of a motor.

int PowerMotor::power ( ) const

overrideslot

void PowerMotor::powerOff ( )

overrideslot

void PowerMotor::setPeriod ( int  period )

overrideslot

Sets current motor period.

Period of pulses is a time interval between two characteristic points of two adjacent pulses.

void PowerMotor::setPower ( int  power, bool  constrain = true  )

overrideslot

PowerMotor::Status PowerMotor::status ( ) const

overridevirtual

Returns current status of the device.

Implements trikControl::DeviceInterface.

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

• trikControl/src/powerMotor.h
• trikControl/src/powerMotor.cpp