Class evam::DirectionalMotor¶

template <class Driver, signed short kMaxBackward, signed short kMinBackward, signed short kMinForward, signed short kMaxForward>

ClassList > evam > DirectionalMotor

Bidirectional motor controller (forward/reverse). More...

#include <evamDirectionalMotor.h>

Inherits the following classes: Driver

Public Functions¶

Type	Name
	DirectionalMotor ()
	DirectionalMotor (DirectionalConfig config, Args... args)
signed short	GetMaxBackward () const Get maximum reverse output value.
signed short	GetMaxForward () const Get maximum forward output value.
signed short	GetMinBackward () const Get minimum reverse output value.
signed short	GetMinForward () const Get minimum forward output value.
void	Go (signed short aLevel) Apply the control value.
void	SetMaxBackward (signed short aValue) Set maximum reverse output value.
void	SetMaxForward (signed short aValue) Set maximum forward output value.
void	SetMinBackward (signed short aValue) Set minimum reverse output value.
void	SetMinForward (signed short aValue) Set minimum forward output value.
void	SetupRange (signed short maxBackward, signed short minBackward, signed short minForward, signed short maxForward) Configure all range parameters at once.

Detailed Description¶

Maps a signed input range -1000..1000 to driver-specific output values. Negative values correspond to reverse, positive to forward.

Template parameters:

Driver Driver class (must implement actBipolar(signed short))
kMaxBackward Maximum reverse output value (e.g., -1000)
kMinBackward Minimum reverse output value (e.g., -50)
kMinForward Minimum forward output value (e.g., 50)
kMaxForward Maximum forward output value (e.g., 1000)

Public Functions Documentation¶

function DirectionalMotor [1/2]¶

inline evam::DirectionalMotor::DirectionalMotor ()

function DirectionalMotor [2/2]¶

template<typename... Args>
inline evam::DirectionalMotor::DirectionalMotor (
    DirectionalConfig config,
    Args... args
)

function GetMaxBackward¶

Get maximum reverse output value.

inline signed short evam::DirectionalMotor::GetMaxBackward () const

Returns:

Current maximum reverse output value.

function GetMaxForward¶

Get maximum forward output value.

inline signed short evam::DirectionalMotor::GetMaxForward () const

Returns:

Current maximum forward output value.

function GetMinBackward¶

Get minimum reverse output value.

inline signed short evam::DirectionalMotor::GetMinBackward () const

Returns:

Current minimum reverse output value.

function GetMinForward¶

Get minimum forward output value.

inline signed short evam::DirectionalMotor::GetMinForward () const

Returns:

Current minimum forward output value.

function Go¶

Apply the control value.

inline void evam::DirectionalMotor::Go (
    signed short aLevel
)

Parameters:

aLevel Input control value, range -1000..1000.

function SetMaxBackward¶

Set maximum reverse output value.

inline void evam::DirectionalMotor::SetMaxBackward (
    signed short aValue
)

Parameters:

aValue Output value, clamped to -1000..1000.

function SetMaxForward¶

Set maximum forward output value.

inline void evam::DirectionalMotor::SetMaxForward (
    signed short aValue
)

Parameters:

aValue Output value, clamped to -1000..1000.

function SetMinBackward¶

Set minimum reverse output value.

inline void evam::DirectionalMotor::SetMinBackward (
    signed short aValue
)

Parameters:

aValue Output value, clamped to -1000..1000.

function SetMinForward¶

Set minimum forward output value.

inline void evam::DirectionalMotor::SetMinForward (
    signed short aValue
)

Parameters:

aValue Output value, clamped to -1000..1000.

function SetupRange¶

Configure all range parameters at once.

inline void evam::DirectionalMotor::SetupRange (
    signed short maxBackward,
    signed short minBackward,
    signed short minForward,
    signed short maxForward
)

Parameters:

aMaxBackward Maximum reverse output value (-1000..1000)
aMinBackward Minimum reverse output value (-1000..1000)
aMinForward Minimum forward output value (-1000..1000)
aMaxForward Maximum forward output value (-1000..1000)

The documentation for this class was generated from the following file src/evamDirectionalMotor.h