Class which controls a servo motor. More...

#include <MotorDriver.h>

Public Member Functions
	MotorDriver (uint8_t new_id, uint8_t pos, uint8_t neg, uint8_t enable, uint8_t PWM_bound, uint16_t b_delay=0)
	Constructor for the MotorDriver class. More...

void	move (float new_PWM)
	Sets a new PWM value for the motor to be driven at. More...

void	brake (void)
	Puts the motor into braking mode. More...

float	getPWM (void)
	Returns the PWM value that the motor is currently being driven at. More...

uint8_t	getID (void)
	Returns the ID set in the constructor. More...

int8_t	getDirection (void)
	Returns the current direction the motor is spinning. More...

Protected Attributes
uint8_t	id
	The id of the MotorDriver object.

float	PWM
	The current PWM value.

int8_t	PWM_max
	The maximum PWM allowed.

int8_t	PWM_min
	The minimum PWM allowed.

uint8_t	pinA
	The positive pin connected to the motor.

uint8_t	pinB
	The negative pin connected to the motor.

uint8_t	pinEN
	The enable pin.

uint16_t	brake_delay
	The time that the motor will brake when switching directions.

int8_t	direction
	The current direction of the motor: 1 = forward, 0 = stopped, -1 = reverse.

Detailed Description

Class which controls a servo motor.

This class allows for PWM control of a servo motor. The motor must be a simple 2-wire servo motor. The class includes protections against quick reversal of the motor with a (blocking) brake delay. The class will also allow for a maximum PWM to be used.

Constructor & Destructor Documentation

◆ MotorDriver()

MotorDriver::MotorDriver	(	uint8_t	new_id,
		uint8_t	pos,
		uint8_t	neg,
		uint8_t	enable,
		uint8_t	PWM_bound,
		uint16_t	b_delay = `0`
	)

Constructor for the MotorDriver class.

This constructor sets various parameters for the MotorDriver object. These include the pins the motor is connected to, the enable pin, the max/min PWM that can be sent to the motors, the braking delay, and an ID. Note that the braking delay at this point is blocking, so only short delays should be used, if at all. Another note - if the PWM bound is set to a number above 100, the bound will be set to 100.

Parameters

new_id	The ID of the motor, which has no effect on the function of the MotorDriver object
pos	The pin name, i.e. PA0 or PC5, of the pin that is connected to the positive terminal of the motor.
neg	The pin name of the pin that is connected to the negative terminal of the motor
enable	The pin name of the pin that is connected to the enable pin on the physical motor driver chip
PWM_bound	The PWM value, from 0 to 100, that is the maximum PWM value that can be written to either the positive or negative pin
b_delay	The delay in ms, that the motor will break before switching the rotation direction of the motor - delay is blocking

Member Function Documentation

◆ brake()

void MotorDriver::brake ( void )

Puts the motor into braking mode.

When this function is called, PWM_bound is sent to both the positive and negative poles of the motor. This is braking mode for many motor drivers, instead of coast mode, as MotorDriver::move(0) would cause

◆ getDirection()

int8_t MotorDriver::getDirection ( void )

Returns the current direction the motor is spinning.

If the motor is spinning forward, 1 is returned. If spinning backwards, -1 is returned. If the motor is stopped, 0 is returned.

Returns: The direction of the motor, as specified above

◆ getID()

uint8_t MotorDriver::getID ( void )

Returns the ID set in the constructor.

Returns: The ID of the MotorDriver object

◆ getPWM()

float MotorDriver::getPWM ( void )

Returns the PWM value that the motor is currently being driven at.

Returns: The current PWM value being sent to the motor

◆ move()

void MotorDriver::move ( float new_PWM )

Sets a new PWM value for the motor to be driven at.

This PWM value is allowed to be any number from -1*PWM_bound (from the constructor) to PWM_bound. If a PWM value is outside the bounds, the motor will be driven at the appropriate bound. A positive PWM is moving forward, negative moving backward. Note that these PWM values are the percentage. Calling MotorDriver::move(1) will rotate forward at 1% PWM, not 100%.