Motor.hpp

Motor.hpp is the base abstract class for all motors - ie these methods apply to all sorts of Motors be they servos, dc motors etc.

 

Constants:

MOTOR::MAX_SPEED represents full speed ahead

MOTOR::MIN_SPEED represents full speed backwards

The middle point between these two values (which is normally 0) represents STOP.

 

int SetSpeed(int speed);

This will set the new speed for the motor. This value will be clamped to be between MIN_SPEED and MAX_SPEED. The newly clamped speed will be returned to the caller. If the motor hardware incorporates a brake then setting a speed of 0 will apply the brake.

 

int SetSpeed(int speed, bool forwards);

A convenience method for setting a positive speed and a direction. Is the same as:

    if(forwards){
            SetSpeed(speed);
        }else{
            SetSpeed(-speed);
        }

int GetSpeed();

Get the current speed of the motor. This will be between MIN_SPEED and MAX_SPEED. NB this is the current value from the last SetSpeed and does not reflect the actual physical motor speed.

 

void Disconnect();

Depending on the abilities of the motor driver this will attempt to put the motor into 'coasting' mode by disconnecting it from the power. If the robot is on a hill then this may cause the robot to start rolling backwards. If this is not intended then use SetSpeed(0) to apply a brake.

 

void Reconnect();

Reconnect the motor to the supply following a disconnect

 

bool IsConnected();

Is the motor currently connected?