Class evam::KickDecor

template <class TMotor, unsigned short tDefaultKickDurationMs, signed short tDefaultKickPower>

ClassList > evam > KickDecor

Decorator that applies a momentary kick to overcome static friction. More...

• #include <evamKickDecor.h>

Inherits the following classes: Tickable, TMotor

Public Functions

Type	Name
unsigned short	GetKickDuration () const Get kick pulse duration.
signed short	GetKickPower () const Get kick power.
void	Go (signed short aValue) Apply the control value with kick-start pulse.
	KickDecor ()
	KickDecor (KickConfig config, Args... args)
void	SetKickDuration (unsigned short aValue) Set kick pulse duration.
void	SetKickPower (signed short aValue) Set kick power.
void	SetupKickstart (unsigned short duration, signed short power) Configure kickstart parameters at once.

Detailed Description

When starting from stop or changing direction, a power pulse is applied for a short duration to overcome inertia and static friction.

Template parameters:

• Motor Base motor class (must implement Go(signed short))
• kDefaultKickDuration Default kick pulse duration in milliseconds. Default: 20ms.
• kDefaultKickPower Default kick power. Range: -1000..1000. Default: 1000 (full power).

Public Functions Documentation

function GetKickDuration

Get kick pulse duration.

inline unsigned short evam::KickDecor::GetKickDuration () const

Returns:

Kick duration in milliseconds.

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function GetKickPower

Get kick power.

inline signed short evam::KickDecor::GetKickPower () const

Returns:

Kick power value in range 0..1000.

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function Go

Apply the control value with kick-start pulse.

inline void evam::KickDecor::Go (
    signed short aValue
) 

Parameters:

• aValue Desired control value, range -1000..1000.

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function KickDecor [1/2]

inline evam::KickDecor::KickDecor () 

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function KickDecor [2/2]

template<typename... Args>
inline evam::KickDecor::KickDecor (
    KickConfig config,
    Args... args
) 

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function SetKickDuration

Set kick pulse duration.

inline void evam::KickDecor::SetKickDuration (
    unsigned short aValue
) 

Parameters:

• aDuration Duration in milliseconds, must be > 0.

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function SetKickPower

Set kick power.

inline void evam::KickDecor::SetKickPower (
    signed short aValue
) 

Parameters:

• aPower Power value, clamped to 0..1000.

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function SetupKickstart

Configure kickstart parameters at once.

inline void evam::KickDecor::SetupKickstart (
    unsigned short duration,
    signed short power
) 

Parameters:

• aKickDuration Kick pulse duration in milliseconds
• aKickPower Kick power, range -1000..1000

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