#include <MotorWheel.h>
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| Motor (unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr) |
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void | setupInterrupt () |
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unsigned char | getPinPWM () const |
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unsigned char | getPinDir () const |
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unsigned char | getPinIRQ () const |
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unsigned char | getPinIRQB () const |
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unsigned int | runPWM (unsigned int PWM, bool dir, bool saveDir=true) |
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unsigned int | getPWM () const |
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unsigned int | advancePWM (unsigned int PWM) |
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unsigned int | backoffPWM (unsigned int PWM) |
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bool | setDesiredDir (bool dir) |
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bool | getDesiredDir () const |
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bool | reverseDesiredDir () |
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bool | setCurrDir () |
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bool | getCurrDir () const |
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int | getSpeedRPM () const |
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unsigned int | setSpeedRPM (int speedRPM, bool dir) |
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int | setSpeedRPM (int speedRPM) |
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bool | PIDSetup (float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000) |
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bool | PIDGetStatus () const |
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bool | PIDEnable (float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000) |
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bool | PIDDisable () |
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bool | PIDReset () |
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bool | PIDRegulate (bool doRegulate=true) |
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unsigned int | PIDSetSpeedRPMDesired (unsigned int speedRPM) |
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unsigned int | PIDGetSpeedRPMDesired () const |
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void | delayMS (unsigned int ms, bool debug=false) |
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void | debugger () const |
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int | getSpeedPPS () const |
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long | getCurrPulse () const |
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long | setCurrPulse (long _pulse) |
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long | resetCurrPulse () |
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| PID (int *, int *, int *, float, float, float) |
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| PID (int *, int *, int *, int *, float, float, float) |
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void | SetMode (int Mode) |
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void | Compute () |
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void | SetInputLimits (int, int) |
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void | SetOutputLimits (int, int) |
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void | SetTunings (float, float, float) |
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void | SetSampleTime (int) |
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void | Reset () |
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bool | JustCalculated () |
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int | GetMode () |
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int | GetINMin () |
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int | GetINMax () |
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int | GetOUTMin () |
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int | GetOUTMax () |
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int | GetSampleTime () |
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float | GetP_Param () |
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float | GetI_Param () |
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float | GetD_Param () |
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◆ Motor()
Motor::Motor |
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unsigned char |
_pinPWM, |
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unsigned char |
_pinDir, |
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unsigned char |
_pinIRQ, |
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unsigned char |
_pinIRQB, |
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struct ISRVars * |
_isr |
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) |
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◆ advancePWM()
unsigned int Motor::advancePWM |
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unsigned int |
PWM | ) |
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◆ backoffPWM()
unsigned int Motor::backoffPWM |
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unsigned int |
PWM | ) |
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◆ debugger()
void Motor::debugger |
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const |
◆ delayMS()
void Motor::delayMS |
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unsigned int |
ms, |
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bool |
debug = false |
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) |
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◆ getCurrDir()
bool Motor::getCurrDir |
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const |
◆ getCurrPulse()
long Motor::getCurrPulse |
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const |
◆ getDesiredDir()
bool Motor::getDesiredDir |
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const |
◆ getPinDir()
unsigned char Motor::getPinDir |
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const |
◆ getPinIRQ()
unsigned char Motor::getPinIRQ |
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const |
◆ getPinIRQB()
unsigned char Motor::getPinIRQB |
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const |
◆ getPinPWM()
unsigned char Motor::getPinPWM |
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const |
◆ getPWM()
unsigned int Motor::getPWM |
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const |
◆ getSpeedPPS()
int Motor::getSpeedPPS |
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const |
◆ getSpeedRPM()
int Motor::getSpeedRPM |
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const |
◆ PIDDisable()
bool Motor::PIDDisable |
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◆ PIDEnable()
bool Motor::PIDEnable |
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float |
kc = KC , |
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float |
taui = TAUI , |
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float |
taud = TAUD , |
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unsigned int |
sampleTime = 1000 |
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) |
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◆ PIDGetSpeedRPMDesired()
unsigned int Motor::PIDGetSpeedRPMDesired |
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const |
◆ PIDGetStatus()
bool Motor::PIDGetStatus |
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const |
◆ PIDRegulate()
bool Motor::PIDRegulate |
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bool |
doRegulate = true | ) |
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◆ PIDReset()
◆ PIDSetSpeedRPMDesired()
unsigned int Motor::PIDSetSpeedRPMDesired |
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unsigned int |
speedRPM | ) |
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◆ PIDSetup()
bool Motor::PIDSetup |
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float |
kc = KC , |
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float |
taui = TAUI , |
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float |
taud = TAUD , |
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unsigned int |
sampleTime = 1000 |
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) |
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◆ resetCurrPulse()
long Motor::resetCurrPulse |
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◆ reverseDesiredDir()
bool Motor::reverseDesiredDir |
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◆ runPWM()
unsigned int Motor::runPWM |
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unsigned int |
PWM, |
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bool |
dir, |
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bool |
saveDir = true |
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) |
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◆ setCurrDir()
bool Motor::setCurrDir |
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◆ setCurrPulse()
long Motor::setCurrPulse |
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long |
_pulse | ) |
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◆ setDesiredDir()
bool Motor::setDesiredDir |
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bool |
dir | ) |
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◆ setSpeedRPM() [1/2]
int Motor::setSpeedRPM |
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int |
speedRPM | ) |
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◆ setSpeedRPM() [2/2]
unsigned int Motor::setSpeedRPM |
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int |
speedRPM, |
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bool |
dir |
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) |
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◆ setupInterrupt()
void Motor::setupInterrupt |
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◆ isr
The documentation for this class was generated from the following files: