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| GearedMotor (unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr, unsigned int _ratio=REDUCTION_RATIO) |
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float | getGearedSpeedRPM () const |
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float | setGearedSpeedRPM (float gearedSpeedRPM, bool dir) |
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float | setGearedSpeedRPM (float gearedSpeedRPM) |
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unsigned int | getRatio () const |
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unsigned int | setRatio (unsigned int ratio=REDUCTION_RATIO) |
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float | getPosition () |
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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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