MotorDriver Class Reference

#include <MotorDriver.h>

Public Member Functions
void	configure (uint8_t position, uint8_t motorID)
void	goBackward ()
void	goForward ()
void	goLeft ()
void	goRight ()
void	init ()
	MotorDriver (PinName int1, PinName int2, PinName int3, PinName int4, PinName speedA, PinName speedB)
void	rotate (uint8_t direction, uint8_t motor_position)
void	rotateWithID (uint8_t direction, uint8_t motorID)
void	setDirection (uint8_t direction, uint8_t motorID)
void	setSpeed (uint8_t speed, uint8_t motorID)
void	stop ()
void	stop (uint8_t motorID)

Public Attributes
MotorStruct	motorA
MotorStruct	motorB

Private Attributes
DigitalOut	_int1
DigitalOut	_int2
DigitalOut	_int3
DigitalOut	_int4
SoftwarePWM	_speedA
SoftwarePWM	_speedB

Detailed Description

Motor Driver class. offer API to control the movement of motor

Definition at line 54 of file MotorDriver.h.

Constructor & Destructor Documentation

MotorDriver::MotorDriver ( PinName  int1, PinName  int2, PinName  int3, PinName  int4, PinName  speedA, PinName  speedB  )

inline

Create Motor Driver instance

Parameters

int1	pin 1 of motor movement control
int2	pin 2 of motor movement control
int3	pin 3 of motor movement control
int4	pin 4 of motor movement control
speedA	speed control of motorA
speedB	speed control of motorB

Definition at line 67 of file MotorDriver.h.

Member Function Documentation

void MotorDriver::configure	(	uint8_t	position,
		uint8_t	motorID
	)

config position of motor

Parameters

position	the position set to motor,MOTOR_POSITION_LEFT or MOTOR_POSITION_RIGHT will be allowed
motorID	the ID define which motor will be set, you can choose MOTORA or MOTORB

Definition at line 37 of file MotorDriver.cpp.

void MotorDriver::goBackward

(

)

make motor go backward

Definition at line 87 of file MotorDriver.cpp.

void MotorDriver::goForward

(

)

make motor go forward

Definition at line 82 of file MotorDriver.cpp.

void MotorDriver::goLeft

(

)

make motor go left

Definition at line 92 of file MotorDriver.cpp.

void MotorDriver::goRight

(

)

make motor go right

Definition at line 97 of file MotorDriver.cpp.

void MotorDriver::init

(

)

set motor to initialized state

Definition at line 25 of file MotorDriver.cpp.

void MotorDriver::rotate	(	uint8_t	direction,
		uint8_t	motor_position
	)

rotate motor

Parameters

direction	the direction set to motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
motor_position	the position set to motor,MOTOR_POSITION_LEFT or MOTOR_POSITION_RIGHT will be allowed

Definition at line 54 of file MotorDriver.cpp.

void MotorDriver::rotateWithID	(	uint8_t	direction,
		uint8_t	motorID
	)

rotate motorA or motorB

Parameters

direction	the direction set to motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
motorID	the ID define which motor will be set, you can choose MOTORA or MOTORB

Definition at line 66 of file MotorDriver.cpp.

void MotorDriver::setDirection	(	uint8_t	direction,
		uint8_t	motorID
	)

set direction of motor,

Parameters

direction	the direction of motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
motorID	the ID define which motor will be set, you can choose MOTORA or MOTORB

Definition at line 48 of file MotorDriver.cpp.

void MotorDriver::setSpeed	(	uint8_t	speed,
		uint8_t	motorID
	)

set speed of motor

Parameters

speed	speed value set to motor, [0,100] will be allowed
motorID	the ID define which motor will be set, you can choose MOTORA or MOTORB

Definition at line 43 of file MotorDriver.cpp.

void MotorDriver::stop

(

)

make motor stop

Definition at line 103 of file MotorDriver.cpp.

void MotorDriver::stop

(

uint8_t

motorID

)

make motorA or motorB stop

Parameters

motorID

the ID define which motor will be set, you can choose MOTORA or MOTORB

Definition at line 109 of file MotorDriver.cpp.

Member Data Documentation

DigitalOut MotorDriver::_int1

private

Definition at line 144 of file MotorDriver.h.

DigitalOut MotorDriver::_int2

private

Definition at line 145 of file MotorDriver.h.

DigitalOut MotorDriver::_int3

private

Definition at line 146 of file MotorDriver.h.

DigitalOut MotorDriver::_int4

private

Definition at line 147 of file MotorDriver.h.

SoftwarePWM MotorDriver::_speedA

private

Definition at line 148 of file MotorDriver.h.

SoftwarePWM MotorDriver::_speedB

private

Definition at line 149 of file MotorDriver.h.

MotorStruct MotorDriver::motorA

motor A

Definition at line 136 of file MotorDriver.h.

MotorStruct MotorDriver::motorB

motor B

Definition at line 140 of file MotorDriver.h.

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

• MotorDriver.h
• MotorDriver.cpp