exploringBB::DCMotor Class Reference

A generic DC motor class that controls a motor driver board using a PWM signal,and a GPIO state to control the motor direction. More...

#include <DCMotor.h>

Public Types
enum	DIRECTION { CLOCKWISE, ANTICLOCKWISE }

Public Member Functions
	DCMotor (PWM *pwm, GPIO *gpio)
	DCMotor (PWM *pwm, int gpioNumber)
	DCMotor (PWM *pwm, GPIO *gpio, DCMotor::DIRECTION direction)
	DCMotor (PWM *pwm, int gpioNumber, DCMotor::DIRECTION direction)
	DCMotor (PWM *pwm, GPIO *gpio, DCMotor::DIRECTION direction, float speedPercent)
	DCMotor (PWM *pwm, int gpioNumber, DCMotor::DIRECTION direction, float speedPercent)
virtual void	go ()
virtual void	setSpeedPercent (float speedPercent)
virtual float	getSpeedPercent ()
virtual void	setDirection (DIRECTION direction)
virtual DIRECTION	getDirection ()
virtual void	reverseDirection ()
virtual void	stop ()
virtual void	setDutyCyclePeriod (unsigned int period_ns)
virtual	~DCMotor ()

Detailed Description

A generic DC motor class that controls a motor driver board using a PWM signal,and a GPIO state to control the motor direction.

Member Enumeration Documentation

enum exploringBB::DCMotor::DIRECTION

Enumerator
CLOCKWISE
ANTICLOCKWISE

{ CLOCKWISE, ANTICLOCKWISE };

Constructor & Destructor Documentation

exploringBB::DCMotor::DCMotor	(	PWM *	pwm,
		GPIO *	gpio
	)

                                     {
        init(pwm, gpio, CLOCKWISE, DEFAULT_DCMOTOR_SPEED);
}

exploringBB::DCMotor::DCMotor	(	PWM *	pwm,
		int	gpioNumber
	)

                                         {
        this->gpio = new GPIO(gpioNumber);
        this->gpio->setDirection(GPIO::OUTPUT);
        init(pwm, this->gpio, CLOCKWISE, DEFAULT_DCMOTOR_SPEED);
}

exploringBB::DCMotor::DCMotor	(	PWM *	pwm,
		GPIO *	gpio,
		DCMotor::DIRECTION	direction
	)

                                                                 {
        init(pwm, gpio, direction, DEFAULT_DCMOTOR_SPEED);
}

exploringBB::DCMotor::DCMotor	(	PWM *	pwm,
		int	gpioNumber,
		DCMotor::DIRECTION	direction
	)

                                                                     {
        this->gpio = new GPIO(gpioNumber);
        this->gpio->setDirection(GPIO::OUTPUT);
        init(pwm, this->gpio, direction, DEFAULT_DCMOTOR_SPEED);
}

exploringBB::DCMotor::DCMotor	(	PWM *	pwm,
		GPIO *	gpio,
		DCMotor::DIRECTION	direction,
		float	speedPercent
	)

                                                                                     {
        init(pwm, gpio, direction, speedPercent);
}

exploringBB::DCMotor::DCMotor	(	PWM *	pwm,
		int	gpioNumber,
		DCMotor::DIRECTION	direction,
		float	speedPercent
	)

                                                                                         {
        this->gpio = new GPIO(gpioNumber);
        this->gpio->setDirection(GPIO::OUTPUT);
        init(pwm, this->gpio, direction, speedPercent);
}

exploringBB::DCMotor::~DCMotor ( )

virtual

                  {
        delete gpio;
}

Member Function Documentation

virtual DIRECTION exploringBB::DCMotor::getDirection ( )

inlinevirtual

{ return this->direction; }

virtual float exploringBB::DCMotor::getSpeedPercent ( )

inlinevirtual

{ return this->speedPercent; }

void exploringBB::DCMotor::go ( )

virtual

                {
        this->pwm->run();
}

void exploringBB::DCMotor::reverseDirection ( )

virtual

                              {
        if(this->direction == CLOCKWISE){
                this->setDirection(ANTICLOCKWISE);
        }
        else{
                this->setDirection(CLOCKWISE);
        }
}

void exploringBB::DCMotor::setDirection ( DIRECTION  direction )

virtual

                                             {
        if(direction == CLOCKWISE){
                this->gpio->setValue(GPIO::HIGH);
        }
        else{
                this->gpio->setValue(GPIO::LOW);
        }
        this->direction = direction;
}

void exploringBB::DCMotor::setDutyCyclePeriod ( unsigned int  period_ns )

virtual

                                                      {
        this->pwm->setPeriod(period_ns);
}

void exploringBB::DCMotor::setSpeedPercent ( float  speedPercent )

virtual

                                                  {
        this->pwm->setDutyCycle(speedPercentage);
        this->speedPercent = speedPercentage;
}

void exploringBB::DCMotor::stop ( )

virtual

                  {
        this->pwm->stop();
}

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

• /home/molloyd/exploringBB/library/motor/DCMotor.h
• /home/molloyd/exploringBB/library/motor/DCMotor.cpp