Smart motor controller class. More...

Inheritance diagram for robotCore.SmartMotor:

Classes
enum	SmartMotorType
	Specifies the type of motor. More...
enum	SmartMotorMode
	Specifies the type of control. More...

Public Member Functions
	SmartMotor (SmartMotorType type, int pwmPin, int dirPin)
	SmartMotor (SmartMotorType type, int pwmPin, int dirPin, int i2cAddr)
	SmartMotor (int pin, int min, int zero, int max)
	SmartMotor (int pin, int min, int zero, int max, int i2cAddr)
void	setMaxSpeed (double maxSpeed)
void	set (double value)
void	setFeedbackDevice (Encoder encoder)
Encoder	getFeedbackDevice ()
void	setControlMode (SmartMotorMode mode)
void	setFTerm (double f)
void	setITerm (double i)
void	setPTerm (double p)
void	setIZone (double z)
void	setInverted (boolean invert)
void	setDTerm (double d)
void	setMinPower (double minPower)
void	setDeadZone (double deadZone)

Detailed Description

Smart motor controller class.

Author: John Gaby

   This class serves as the base class for the different types of motors
   It can handle advanced motor control using PID to control of the motor
   speed.

Definition at line 24 of file SmartMotor.java.

Constructor & Destructor Documentation

◆ SmartMotor() [1/5]

robotCore.SmartMotor.SmartMotor	(	SmartMotorType	type,
		int	pwmPin,
		int	dirPin )

Creates an instance of a PWM duty cycle motor using 1 or 2 pins

Parameters

type	- Specifies the type of motor
pwmPin	- Specifies the pin for the PWM signal
dirPin	- Specifies the pin for the direction control. If this value is zero then only the pwmPin is used and the motor cannot be reversed.

Definition at line 279 of file SmartMotor.java.

◆ SmartMotor() [2/5]

robotCore.SmartMotor.SmartMotor ( )

Definition at line 284 of file SmartMotor.java.

◆ SmartMotor() [3/5]

robotCore.SmartMotor.SmartMotor	(	SmartMotorType	type,
		int	pwmPin,
		int	dirPin,
		int	i2cAddr )

Creates instance of a PWM duty cycle motor using 1 or 2 pins when the motor is connected to an auxiliary Arduino via i2c

Parameters

type	- Specifies the type of motor
pwmPin	- Specifies the pin for the PWM signal
dirPin	- Specifies the pin for the direction control. If this value is zero then only the pwmPin is used and the motor cannot be reversed.
i2cAddr	- Specifies the address of the i2c connected Arduino

Definition at line 299 of file SmartMotor.java.

◆ SmartMotor() [4/5]

robotCore.SmartMotor.SmartMotor	(	int	pin,
		int	min,
		int	zero,
		int	max )

Creates an instance of a servo style motor

Parameters

pin	- Specifies the pin servo signal
min	- Specifies the minimum (full reverse) PWM time in ms
zero	- Specifies the zero (stop) PWM time in ms.
max	- Specifies the max (full forward) PWM time in ms.

Definition at line 311 of file SmartMotor.java.

◆ SmartMotor() [5/5]

robotCore.SmartMotor.SmartMotor	(	int	pin,
		int	min,
		int	zero,
		int	max,
		int	i2cAddr )

Creates instance of a servo style motor when the motor is connected to an auxiliary Arduino via i2c

Parameters

pin	- Specifies the pin servo signal
min	- Specifies the minimum (full reverse) PWM time in ms
zero	- Specifies the zero (stop) PWM time in ms.
max	- Specifies the max (full forward) PWM time in ms.
i2cAddr	- Specifies the address of the i2c connected Arduino

Definition at line 325 of file SmartMotor.java.

Member Function Documentation

◆ getFeedbackDevice()

Encoder robotCore.SmartMotor.getFeedbackDevice ( )

Returns: Returns the current feedback device

Definition at line 415 of file SmartMotor.java.

◆ set()

void robotCore.SmartMotor.set ( double value )

Parameters

value - Sets either the power, speed or position depending on the current mode. If the motor is in power mode, this should be in the range -1 to +1. If the motor is in speed mode, then this should either be the desired speed in encoder units, or -1 to +1 if the maxSpeed value has been set. If the motor is in position mode, the value should be the desired position in encoder units (i.e. NOT degrees)

Definition at line 349 of file SmartMotor.java.

◆ setControlMode()

void robotCore.SmartMotor.setControlMode ( SmartMotorMode mode )

Parameters

mode	- Sets the current control mode.

Definition at line 423 of file SmartMotor.java.

◆ setDeadZone()

void robotCore.SmartMotor.setDeadZone ( double deadZone )

Parameters

minDeadZone - For positional control specifies the max error to be considered on target. This value should be in encoder units (i.e. NOT degrees)

Definition at line 518 of file SmartMotor.java.

◆ setDTerm()

void robotCore.SmartMotor.setDTerm ( double d )

Parameters

d	- Specifies the derivative term for the PID control.

Definition at line 490 of file SmartMotor.java.

◆ setFeedbackDevice()

void robotCore.SmartMotor.setFeedbackDevice ( Encoder encoder )

Parameters

encoder - Specifies the feedback device to be used to control the speed.

Definition at line 404 of file SmartMotor.java.

◆ setFTerm()

void robotCore.SmartMotor.setFTerm ( double f )

Parameters

f	- Specifies the 'feed forward' term for the PID control.

Definition at line 437 of file SmartMotor.java.

◆ setInverted()

void robotCore.SmartMotor.setInverted ( boolean invert )

Parameters

invert - If true then the direction of the motor is reversed

Definition at line 482 of file SmartMotor.java.

◆ setITerm()

void robotCore.SmartMotor.setITerm ( double i )

Parameters

i	- Specifies the integral term for the PID control.

Definition at line 449 of file SmartMotor.java.

◆ setIZone()

void robotCore.SmartMotor.setIZone ( double z )

Parameters

z	- Specifies the I Zone term for the PID control. This is the region outside of which, the I term is ignored.

Definition at line 474 of file SmartMotor.java.

◆ setMaxSpeed()

void robotCore.SmartMotor.setMaxSpeed ( double maxSpeed )

Parameters

maxSpeed - Specifies the maximum speed of the motor. Setting this value allows control of the speed using the range -1 to +1 similar to when the motor is controlled by power.

Definition at line 335 of file SmartMotor.java.

◆ setMinPower()

void robotCore.SmartMotor.setMinPower ( double minPower )

Parameters

minPower - Specifies the minimum power needed to get the motor to run

Definition at line 508 of file SmartMotor.java.

◆ setPTerm()

void robotCore.SmartMotor.setPTerm ( double p )

Parameters

p	- Specifies the proportional term for the PID control.

Definition at line 461 of file SmartMotor.java.

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

robotCore/SmartMotor.java

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SmartMotor() [1/5]

◆ SmartMotor() [2/5]

◆ SmartMotor() [3/5]

◆ SmartMotor() [4/5]

◆ SmartMotor() [5/5]

Member Function Documentation

◆ getFeedbackDevice()

◆ set()

◆ setControlMode()

◆ setDeadZone()

◆ setDTerm()

◆ setFeedbackDevice()

◆ setFTerm()

◆ setInverted()

◆ setITerm()

◆ setIZone()

◆ setMaxSpeed()

◆ setMinPower()

◆ setPTerm()