#include <yocto_motor.h>

Inheritance diagram for YMotor:

Public Member Functions
virtual int	_invokeValueCallback (string value)

double	brakingForce (void)

virtual int	brakingForceMove (double targetPower, int delay)

string	command (void)

double	cutOffVoltage (void)

double	drivingForce (void)

virtual int	drivingForceMove (double targetPower, int delay)

int	failSafeTimeout (void)

double	frequency (void)

double	get_brakingForce (void)

string	get_command (void)

double	get_cutOffVoltage (void)

double	get_drivingForce (void)

int	get_failSafeTimeout (void)

double	get_frequency (void)

Y_MOTORSTATUS_enum	get_motorStatus (void)

int	get_overCurrentLimit (void)

int	get_starterTime (void)

virtual int	keepALive (void)

Y_MOTORSTATUS_enum	motorStatus (void)

YMotor *	next (void)

YMotor *	nextMotor (void)

int	overCurrentLimit (void)

virtual int	registerValueCallback (YMotorValueCallback callback)

virtual int	resetStatus (void)

int	set_brakingForce (double newval)

int	set_command (const string &newval)

int	set_cutOffVoltage (double newval)

int	set_drivingForce (double newval)

int	set_failSafeTimeout (int newval)

int	set_frequency (double newval)

int	set_motorStatus (Y_MOTORSTATUS_enum newval)

int	set_overCurrentLimit (int newval)

int	set_starterTime (int newval)

int	setBrakingForce (double newval)

int	setCommand (const string &newval)

int	setCutOffVoltage (double newval)

int	setDrivingForce (double newval)

int	setFailSafeTimeout (int newval)

int	setFrequency (double newval)

int	setMotorStatus (Y_MOTORSTATUS_enum newval)

int	setOverCurrentLimit (int newval)

int	setStarterTime (int newval)

int	starterTime (void)

	~YMotor ()

Public Member Functions inherited from YFunction
void	_clearDataStreamCache ()

string	_decode_json_string (const string &json)

string	_download (const string &url)

YDataStream *	_findDataStream (YDataSet &dataset, const string &def)

string	_get_json_path (const string &json, const string &path)

vector< string >	_json_get_array (const string &json)

string	_json_get_key (const string &json, const string &data)

string	_json_get_string (const string &json)

int	_parseEx (yJsonStateMachine &j)

virtual int	_parserHelper (void)

string	_parseString (yJsonStateMachine &j)

string	_request (const string &request)

string	_requestEx (int tcpchan, const string &request, yapiRequestProgressCallback callback, void *context)

void	_throw (YRETCODE errType, string errMsg)

YRETCODE	_upload (const string &path, const string &content)

YRETCODE	_uploadWithProgress (const string &path, const string &content, yapiRequestProgressCallback callback, void *context)

string	advertisedValue (void)

void	clearCache ()

string	describe (void)

string	errMessage (void)

string	errorMessage (void)

YRETCODE	errorType (void)

YRETCODE	errType (void)

YFUN_DESCR	functionDescriptor (void)

string	get_advertisedValue (void)

string	get_errorMessage (void)

YRETCODE	get_errorType (void)

virtual string	get_friendlyName (void)

YFUN_DESCR	get_functionDescriptor (void)

string	get_functionId (void)

string	get_hardwareId (void)

string	get_hubSerial ()

string	get_logicalName (void)

YModule *	get_module (void)

void *	get_userData (void)

bool	isOnline (void)

YRETCODE	load (int msValidity)

virtual string	loadAttribute (string attrName)

string	logicalName (void)

YModule *	module (void)

virtual int	muteValueCallbacks (void)

YFunction *	next (void)

YFunction *	nextFunction (void)

virtual int	registerValueCallback (YFunctionValueCallback callback)

int	set_advertisedValue (const string &newval)

int	set_logicalName (const string &newval)

void	set_userData (void *data)

int	setAdvertisedValue (const string &newval)

int	setLogicalName (const string &newval)

void	setUserData (void *data)

virtual int	unmuteValueCallbacks (void)

void *	userData (void)

virtual	~YFunction ()

Static Public Member Functions
static YMotor *	Find (string func)

static YMotor *	FindMotor (string func)

static YMotor *	First (void)

static YMotor *	FirstMotor (void)

Static Public Member Functions inherited from YFunction
static void	_ClearCache (void)

static YFunction *	Find (string func)

static YFunction *	FindFunction (string func)

static YFunction *	First (void)

static YFunction *	FirstFunction (void)

Static Public Attributes
static const double	BRAKINGFORCE_INVALID = YAPI_INVALID_DOUBLE

static const string	COMMAND_INVALID = YAPI_INVALID_STRING

static const double	CUTOFFVOLTAGE_INVALID = YAPI_INVALID_DOUBLE

static const double	DRIVINGFORCE_INVALID = YAPI_INVALID_DOUBLE

static const int	FAILSAFETIMEOUT_INVALID = YAPI_INVALID_UINT

static const double	FREQUENCY_INVALID = YAPI_INVALID_DOUBLE

static const Y_MOTORSTATUS_enum	MOTORSTATUS_BACKWD = Y_MOTORSTATUS_BACKWD

static const Y_MOTORSTATUS_enum	MOTORSTATUS_BRAKE = Y_MOTORSTATUS_BRAKE

static const Y_MOTORSTATUS_enum	MOTORSTATUS_FAILSF = Y_MOTORSTATUS_FAILSF

static const Y_MOTORSTATUS_enum	MOTORSTATUS_FORWD = Y_MOTORSTATUS_FORWD

static const Y_MOTORSTATUS_enum	MOTORSTATUS_HICURR = Y_MOTORSTATUS_HICURR

static const Y_MOTORSTATUS_enum	MOTORSTATUS_HIHEAT = Y_MOTORSTATUS_HIHEAT

static const Y_MOTORSTATUS_enum	MOTORSTATUS_IDLE = Y_MOTORSTATUS_IDLE

static const Y_MOTORSTATUS_enum	MOTORSTATUS_INVALID = Y_MOTORSTATUS_INVALID

static const Y_MOTORSTATUS_enum	MOTORSTATUS_LOVOLT = Y_MOTORSTATUS_LOVOLT

static const int	OVERCURRENTLIMIT_INVALID = YAPI_INVALID_INT

static const int	STARTERTIME_INVALID = YAPI_INVALID_INT

Static Public Attributes inherited from YFunction
static const string	ADVERTISEDVALUE_INVALID = YAPI_INVALID_STRING

static const string	FRIENDLYNAME_INVALID = YAPI_INVALID_STRING

static const YFUN_DESCR	FUNCTIONDESCRIPTOR_INVALID = Y_FUNCTIONDESCRIPTOR_INVALID

static const string	FUNCTIONID_INVALID = YAPI_INVALID_STRING

static const string	HARDWAREID_INVALID = YAPI_INVALID_STRING

static const string	LOGICALNAME_INVALID = YAPI_INVALID_STRING

Protected Member Functions
virtual int	_parseAttr (YJSONObject *json_val)

	YMotor (const string &func)

Protected Member Functions inherited from YFunction
YRETCODE	_buildSetRequest (const string &changeattr, const string *changeval, string &request, string &errmsg)

string	_escapeAttr (const string &changeval)

YRETCODE	_getDescriptor (YFUN_DESCR &fundescr, string &errMsg)

YRETCODE	_getDevice (YDevice *&dev, string &errMsg)

YRETCODE	_load_unsafe (int msValidity)

YRETCODE	_nextFunction (string &hwId)

int	_parse (YJSONObject *j)

YRETCODE	_setAttr (string attrname, string newvalue)

	YFunction (const string &func)

Protected Attributes
double	_brakingForce

string	_command

double	_cutOffVoltage

double	_drivingForce

int	_failSafeTimeout

double	_frequency

Y_MOTORSTATUS_enum	_motorStatus

int	_overCurrentLimit

int	_starterTime

YMotorValueCallback	_valueCallbackMotor

Protected Attributes inherited from YFunction
string	_advertisedValue

u64	_cacheExpiration

string	_className

std::map< string, YDataStream * >	_dataStreams

string	_func

YFUN_DESCR	_fundescr

string	_funId

string	_hwId

string	_lastErrorMsg

YRETCODE	_lastErrorType

string	_logicalName

string	_serial

yCRITICAL_SECTION	_this_cs

void *	_userData

YFunctionValueCallback	_valueCallbackFunction

Friends
YMotor *	yFindMotor (const string &func)

YMotor *	yFirstMotor (void)

Additional Inherited Members
Static Protected Member Functions inherited from YFunction
static void	_AddToCache (const string &classname, const string &func, YFunction *obj)

static YFunction *	_FindFromCache (const string &classname, const string &func)

static void	_UpdateTimedReportCallbackList (YFunction *func, bool add)

static void	_UpdateValueCallbackList (YFunction *func, bool add)

Static Protected Attributes inherited from YFunction
static std::map< string, YFunction * >	_cache

Detailed Description

YMotor Class: Motor function interface

Yoctopuce application programming interface allows you to drive the power sent to the motor to make it turn both ways, but also to drive accelerations and decelerations. The motor will then accelerate automatically: you will not have to monitor it. The API also allows to slow down the motor by shortening its terminals: the motor will then act as an electromagnetic brake.

Definition at line 89 of file yocto_motor.h.

Constructor & Destructor Documentation

YMotor::YMotor ( const string & func )

protected

Definition at line 51 of file yocto_motor.cpp.

YMotor::~YMotor ( )

Definition at line 68 of file yocto_motor.cpp.

Member Function Documentation

int YMotor::_invokeValueCallback ( string value )

virtual

Reimplemented from YFunction.

Definition at line 710 of file yocto_motor.cpp.

int YMotor::_parseAttr ( YJSONObject * json_val )

protectedvirtual

Reimplemented from YFunction.

Definition at line 81 of file yocto_motor.cpp.

double YMotor::brakingForce ( void )

inline

Definition at line 224 of file yocto_motor.h.

int YMotor::brakingForceMove	(	double	targetPower,
		int	delay
	)

virtual

Changes progressively the braking force applied to the motor for a specific duration.

Parameters

targetPower	: desired braking force, in percents
delay	: duration (in ms) of the transition

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 765 of file yocto_motor.cpp.

string YMotor::command ( void )

inline

Definition at line 390 of file yocto_motor.h.

double YMotor::cutOffVoltage ( void )

inline

Definition at line 259 of file yocto_motor.h.

double YMotor::drivingForce ( void )

inline

Definition at line 195 of file yocto_motor.h.

int YMotor::drivingForceMove	(	double	targetPower,
		int	delay
	)

virtual

Changes progressively the power sent to the moteur for a specific duration.

Parameters

targetPower	: desired motor power, in percents (between -100% and +100%)
delay	: duration (in ms) of the transition

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 750 of file yocto_motor.cpp.

int YMotor::failSafeTimeout ( void )

inline

Definition at line 367 of file yocto_motor.h.

static YMotor* YMotor::Find ( string func )

inlinestatic

Definition at line 481 of file yocto_motor.h.

YMotor * YMotor::FindMotor ( string func )

static

Retrieves a motor for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YMotor.isOnline() to test if the motor is indeed online at a given time. In case of ambiguity when looking for a motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the motor

Returns: a YMotor object allowing you to drive the motor.

Definition at line 659 of file yocto_motor.cpp.

static YMotor* YMotor::First ( void )

inlinestatic

Definition at line 505 of file yocto_motor.h.

YMotor * YMotor::FirstMotor ( void )

static

Starts the enumeration of motors currently accessible. Use the method YMotor.nextMotor() to iterate on next motors.

Returns: a pointer to a YMotor object, corresponding to the first motor currently online, or a NULL pointer if there are none.

Definition at line 780 of file yocto_motor.cpp.

double YMotor::frequency ( void )

inline

Definition at line 319 of file yocto_motor.h.

double YMotor::get_brakingForce ( void )

Returns the braking force applied to the motor, as a percentage. The value 0 corresponds to no braking (free wheel).

Returns: a floating point number corresponding to the braking force applied to the motor, as a percentage

On failure, throws an exception or returns Y_BRAKINGFORCE_INVALID.

Definition at line 266 of file yocto_motor.cpp.

string YMotor::get_command ( void )

Definition at line 594 of file yocto_motor.cpp.

double YMotor::get_cutOffVoltage ( void )

Returns the threshold voltage under which the controller automatically switches to error state and prevents further current draw. This setting prevents damage to a battery that can occur when drawing current from an "empty" battery.

Returns: a floating point number corresponding to the threshold voltage under which the controller automatically switches to error state and prevents further current draw

On failure, throws an exception or returns Y_CUTOFFVOLTAGE_INVALID.

Definition at line 330 of file yocto_motor.cpp.

double YMotor::get_drivingForce ( void )

Returns the power sent to the motor, as a percentage between -100% and +100%.

Returns: a floating point number corresponding to the power sent to the motor, as a percentage between -100% and +100%

On failure, throws an exception or returns Y_DRIVINGFORCE_INVALID.

Definition at line 208 of file yocto_motor.cpp.

int YMotor::get_failSafeTimeout ( void )

Returns the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process. When this delay has elapsed, the controller automatically stops the motor and switches to FAILSAFE error. Failsafe security is disabled when the value is zero.

Returns: an integer corresponding to the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process

On failure, throws an exception or returns Y_FAILSAFETIMEOUT_INVALID.

Definition at line 542 of file yocto_motor.cpp.

double YMotor::get_frequency ( void )

Returns the PWM frequency used to control the motor.

Returns: a floating point number corresponding to the PWM frequency used to control the motor

On failure, throws an exception or returns Y_FREQUENCY_INVALID.

Definition at line 448 of file yocto_motor.cpp.

Y_MOTORSTATUS_enum YMotor::get_motorStatus ( void )

Return the controller state. Possible states are: IDLE when the motor is stopped/in free wheel, ready to start; FORWD when the controller is driving the motor forward; BACKWD when the controller is driving the motor backward; BRAKE when the controller is braking; LOVOLT when the controller has detected a low voltage condition; HICURR when the controller has detected an overcurrent condition; HIHEAT when the controller has detected an overheat condition; FAILSF when the controller switched on the failsafe security.

When an error condition occurred (LOVOLT, HICURR, HIHEAT, FAILSF), the controller status must be explicitly reset using the resetStatus function.

Returns: a value among Y_MOTORSTATUS_IDLE, Y_MOTORSTATUS_BRAKE, Y_MOTORSTATUS_FORWD, Y_MOTORSTATUS_BACKWD, Y_MOTORSTATUS_LOVOLT, Y_MOTORSTATUS_HICURR, Y_MOTORSTATUS_HIHEAT and Y_MOTORSTATUS_FAILSF

On failure, throws an exception or returns Y_MOTORSTATUS_INVALID.

Definition at line 133 of file yocto_motor.cpp.

int YMotor::get_overCurrentLimit ( void )

Returns the current threshold (in mA) above which the controller automatically switches to error state. A zero value means that there is no limit.

Returns: an integer corresponding to the current threshold (in mA) above which the controller automatically switches to error state

On failure, throws an exception or returns Y_OVERCURRENTLIMIT_INVALID.

Definition at line 361 of file yocto_motor.cpp.

int YMotor::get_starterTime ( void )

Returns the duration (in ms) during which the motor is driven at low frequency to help it start up.

Returns: an integer corresponding to the duration (in ms) during which the motor is driven at low frequency to help it start up

On failure, throws an exception or returns Y_STARTERTIME_INVALID.

Definition at line 480 of file yocto_motor.cpp.

int YMotor::keepALive ( void )

virtual

Rearms the controller failsafe timer. When the motor is running and the failsafe feature is active, this function should be called periodically to prove that the control process is running properly. Otherwise, the motor is automatically stopped after the specified timeout. Calling a motor set function implicitely rearms the failsafe timer.

Definition at line 726 of file yocto_motor.cpp.

Y_MOTORSTATUS_enum YMotor::motorStatus ( void )

inline

Definition at line 161 of file yocto_motor.h.

YMotor* YMotor::next ( void )

inline

Definition at line 492 of file yocto_motor.h.

YMotor * YMotor::nextMotor ( void )

Continues the enumeration of motors started using yFirstMotor().

Returns: a pointer to a YMotor object, corresponding to a motor currently online, or a NULL pointer if there are no more motors to enumerate.

Definition at line 770 of file yocto_motor.cpp.

int YMotor::overCurrentLimit ( void )

inline

Definition at line 273 of file yocto_motor.h.

int YMotor::registerValueCallback ( YMotorValueCallback callback )

virtual

Registers the callback function that is invoked on every change of advertised value. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument.

Parameters

callback : the callback function to call, or a NULL pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.

Definition at line 691 of file yocto_motor.cpp.

int YMotor::resetStatus ( void )

virtual

Reset the controller state to IDLE. This function must be invoked explicitely after any error condition is signaled.

Definition at line 735 of file yocto_motor.cpp.

int YMotor::set_brakingForce ( double newval )

Changes immediately the braking force applied to the motor (in percents). The value 0 corresponds to no braking (free wheel). When the braking force is changed, the driving power is set to zero. The value is a percentage.

Parameters

newval : a floating point number corresponding to immediately the braking force applied to the motor (in percents)

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 242 of file yocto_motor.cpp.

int YMotor::set_command ( const string & newval )

Definition at line 616 of file yocto_motor.cpp.

int YMotor::set_cutOffVoltage ( double newval )

Changes the threshold voltage under which the controller automatically switches to error state and prevents further current draw. This setting prevent damage to a battery that can occur when drawing current from an "empty" battery. Note that whatever the cutoff threshold, the controller switches to undervoltage error state if the power supply goes under 3V, even for a very brief time.

Parameters

newval : a floating point number corresponding to the threshold voltage under which the controller automatically switches to error state and prevents further current draw

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 303 of file yocto_motor.cpp.

int YMotor::set_drivingForce ( double newval )

Changes immediately the power sent to the motor. The value is a percentage between -100% to 100%. If you want go easy on your mechanics and avoid excessive current consumption, try to avoid brutal power changes. For example, immediate transition from forward full power to reverse full power is a very bad idea. Each time the driving power is modified, the braking power is set to zero.

Parameters

newval : a floating point number corresponding to immediately the power sent to the motor

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 184 of file yocto_motor.cpp.

int YMotor::set_failSafeTimeout ( int newval )

Changes the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process. When this delay has elapsed, the controller automatically stops the motor and switches to FAILSAFE error. Failsafe security is disabled when the value is zero.

Parameters

newval : an integer corresponding to the delay in milliseconds allowed for the controller to run autonomously without receiving any instruction from the control process

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 578 of file yocto_motor.cpp.

int YMotor::set_frequency ( double newval )

Changes the PWM frequency used to control the motor. Low frequency is usually more efficient and may help the motor to start, but an audible noise might be generated. A higher frequency reduces the noise, but more energy is converted into heat.

Parameters

newval : a floating point number corresponding to the PWM frequency used to control the motor

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 425 of file yocto_motor.cpp.

int YMotor::set_motorStatus ( Y_MOTORSTATUS_enum newval )

Definition at line 155 of file yocto_motor.cpp.

int YMotor::set_overCurrentLimit ( int newval )

Changes the current threshold (in mA) above which the controller automatically switches to error state. A zero value means that there is no limit. Note that whatever the current limit is, the controller switches to OVERCURRENT status if the current goes above 32A, even for a very brief time.

Parameters

newval : an integer corresponding to the current threshold (in mA) above which the controller automatically switches to error state

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 397 of file yocto_motor.cpp.

int YMotor::set_starterTime ( int newval )

Changes the duration (in ms) during which the motor is driven at low frequency to help it start up.

Parameters

newval : an integer corresponding to the duration (in ms) during which the motor is driven at low frequency to help it start up

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 514 of file yocto_motor.cpp.

int YMotor::setBrakingForce ( double newval )

inline

Definition at line 211 of file yocto_motor.h.

int YMotor::setCommand ( const string & newval )

inline

Definition at line 394 of file yocto_motor.h.

int YMotor::setCutOffVoltage ( double newval )

inline

Definition at line 243 of file yocto_motor.h.

int YMotor::setDrivingForce ( double newval )

inline

Definition at line 182 of file yocto_motor.h.

int YMotor::setFailSafeTimeout ( int newval )

inline

Definition at line 385 of file yocto_motor.h.

int YMotor::setFrequency ( double newval )

inline

Definition at line 307 of file yocto_motor.h.

int YMotor::setMotorStatus ( Y_MOTORSTATUS_enum newval )

inline

Definition at line 165 of file yocto_motor.h.

int YMotor::setOverCurrentLimit ( int newval )

inline

Definition at line 291 of file yocto_motor.h.

int YMotor::setStarterTime ( int newval )

inline

Definition at line 350 of file yocto_motor.h.

int YMotor::starterTime ( void )

inline

Definition at line 334 of file yocto_motor.h.

Friends And Related Function Documentation

YMotor* yFindMotor ( const string & func )

friend

Retrieves a motor for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YMotor.isOnline() to test if the motor is indeed online at a given time. In case of ambiguity when looking for a motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the motor

Returns: a YMotor object allowing you to drive the motor.

Definition at line 542 of file yocto_motor.h.

YMotor* yFirstMotor ( void )

friend

Starts the enumeration of motors currently accessible. Use the method YMotor.nextMotor() to iterate on next motors.

Returns: a pointer to a YMotor object, corresponding to the first motor currently online, or a NULL pointer if there are none.

Definition at line 553 of file yocto_motor.h.

Member Data Documentation

double YMotor::_brakingForce

protected

Definition at line 99 of file yocto_motor.h.

string YMotor::_command

protected

Definition at line 105 of file yocto_motor.h.

double YMotor::_cutOffVoltage

protected

Definition at line 100 of file yocto_motor.h.

double YMotor::_drivingForce

protected

Definition at line 98 of file yocto_motor.h.

int YMotor::_failSafeTimeout

protected

Definition at line 104 of file yocto_motor.h.

double YMotor::_frequency

protected

Definition at line 102 of file yocto_motor.h.

Y_MOTORSTATUS_enum YMotor::_motorStatus

protected

Definition at line 97 of file yocto_motor.h.

int YMotor::_overCurrentLimit

protected

Definition at line 101 of file yocto_motor.h.

int YMotor::_starterTime

protected

Definition at line 103 of file yocto_motor.h.

YMotorValueCallback YMotor::_valueCallbackMotor

protected

Definition at line 106 of file yocto_motor.h.

const double YMotor::BRAKINGFORCE_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 132 of file yocto_motor.h.

const string YMotor::COMMAND_INVALID = YAPI_INVALID_STRING

static

Definition at line 138 of file yocto_motor.h.

const double YMotor::CUTOFFVOLTAGE_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 133 of file yocto_motor.h.

const double YMotor::DRIVINGFORCE_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 131 of file yocto_motor.h.

const int YMotor::FAILSAFETIMEOUT_INVALID = YAPI_INVALID_UINT

static

Definition at line 137 of file yocto_motor.h.

const double YMotor::FREQUENCY_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 135 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_BACKWD = Y_MOTORSTATUS_BACKWD

static

Definition at line 125 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_BRAKE = Y_MOTORSTATUS_BRAKE

static

Definition at line 123 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_FAILSF = Y_MOTORSTATUS_FAILSF

static

Definition at line 129 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_FORWD = Y_MOTORSTATUS_FORWD

static

Definition at line 124 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_HICURR = Y_MOTORSTATUS_HICURR

static

Definition at line 127 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_HIHEAT = Y_MOTORSTATUS_HIHEAT

static

Definition at line 128 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_IDLE = Y_MOTORSTATUS_IDLE

static

Definition at line 122 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_INVALID = Y_MOTORSTATUS_INVALID

static

Definition at line 130 of file yocto_motor.h.

const Y_MOTORSTATUS_enum YMotor::MOTORSTATUS_LOVOLT = Y_MOTORSTATUS_LOVOLT

static

Definition at line 126 of file yocto_motor.h.

const int YMotor::OVERCURRENTLIMIT_INVALID = YAPI_INVALID_INT

static

Definition at line 134 of file yocto_motor.h.

const int YMotor::STARTERTIME_INVALID = YAPI_INVALID_INT

static

Definition at line 136 of file yocto_motor.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation