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C++ Library for $50 robot Version 2
Submitted by Webbot on January 1, 2009 - 11:18pm.
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.
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:
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.
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.
Reconnect the motor to the supply following a disconnect
Is the motor currently connected?