Class for controlling a motor using an Arduino and a PID controller. Plus de détails...

#include <MotorController.h>

Fonctions membres publiques
	MotorController (ArduinoX *arduinoX, PidLayer layer, int motorID, int encoderID, double gearBoxRatio, double encoderTickPerTurn, double convertionRatio)
	Constructor with all parameters. Plus de détails...

	MotorController (ArduinoX *arduinoX, PidLayer layer, int motorID, int encoderID, double gearBoxRatio, double encoderTickPerTurn)
	Constructor without conversion ratio. Plus de détails...

	MotorController (ArduinoX *arduinoX, PidLayer layer, int motorID, int encoderID, double encoderTickPerTurn)
	Constructor with default gearbox ratio. Plus de détails...

	MotorController (ArduinoX *arduinoX, PidLayer layer, int motorID, int encoderID)
	Constructor with default gearbox ratio and encoder ticks per turn. Plus de détails...

	MotorController (ArduinoX *arduinoX, int motorID, int encoderID, double gearBoxRatio, double encoderTickPerTurn, double convertionRatio)
	Constructor with all parameters except layer. Plus de détails...

	MotorController (ArduinoX *arduinoX, int motorID, int encoderID, double gearBoxRatio, double encoderTickPerTurn)
	Constructor without conversion ratio and layer. Plus de détails...

	MotorController (ArduinoX *arduinoX, int motorID, int encoderID, double encoderTickPerTurn)
	Constructor with default gearbox ratio and without layer. Plus de détails...

	MotorController (ArduinoX *arduinoX, int motorID, int encoderID)
	Constructor with default gearbox ratio, encoder ticks per turn, and without layer. Plus de détails...

void	setMotorID (int motorID)
	Set the motor ID. Plus de détails...

int	getMotorID ()
	Get the motor ID. Plus de détails...

void	setEncoderID (int encoderID)
	Set the encoder ID. Plus de détails...

int	getEncoderID ()
	Get the encoder ID. Plus de détails...

void	setLayer (PidLayer layer)
	Set the PID layer. Plus de détails...

PidLayer	getLayer ()
	Get the PID layer. Plus de détails...

void	setGearBoxRatio (double gearBoxRatio)
	Set the gearbox ratio. Plus de détails...

double	getGearBoxRatio ()
	Get the gearbox ratio. Plus de détails...

void	setEncoderTickPerTurn (double encoderTickPerTurn)
	Set the encoder ticks per turn. Plus de détails...

double	getEncoderTickPerTurn ()
	Get the encoder ticks per turn. Plus de détails...

void	setConversionRatio (double convertionRatio)
	Set the conversion ratio. Plus de détails...

double	getConversionRatio ()
	Get the conversion ratio. Plus de détails...

double	measurementFunction ()
	Measurement function for the motor. Plus de détails...

void	commandFunction (double command)
	Command function for the motor. Plus de détails...

Fonctions membres publiques statiques
static double	wheelRatio (double diameter)
	Calculate the wheel ratio based on diameter. Plus de détails...

static double	degreesRatio ()
	Calculate the degrees ratio. Plus de détails...

static double	radiansRatio ()
	Calculate the radians ratio. Plus de détails...

static double	turnRatio ()
	Calculate the turn ratio. Plus de détails...

Description détaillée

Class for controlling a motor using an Arduino and a PID controller.

Documentation des constructeurs et destructeur

◆ MotorController() [1/8]

MotorController::MotorController	(	ArduinoX *	arduinoX,
		PidLayer	layer,
		int	motorID,
		int	encoderID,
		double	gearBoxRatio,
		double	encoderTickPerTurn,
		double	convertionRatio
	)

Constructor with all parameters.

Paramètres

arduinoX	Pointer to ArduinoX instance.
layer	PID layer.
motorID	ID of the motor.
encoderID	ID of the encoder.
gearBoxRatio	Gearbox ratio.
encoderTickPerTurn	Encoder ticks per turn.
convertionRatio	Conversion ratio.

◆ MotorController() [2/8]

MotorController::MotorController	(	ArduinoX *	arduinoX,
		PidLayer	layer,
		int	motorID,
		int	encoderID,
		double	gearBoxRatio,
		double	encoderTickPerTurn
	)

Constructor without conversion ratio.

Paramètres

arduinoX	Pointer to ArduinoX instance.
layer	PID layer.
motorID	ID of the motor.
encoderID	ID of the encoder.
gearBoxRatio	Gearbox ratio.
encoderTickPerTurn	Encoder ticks per turn.

◆ MotorController() [3/8]

MotorController::MotorController	(	ArduinoX *	arduinoX,
		PidLayer	layer,
		int	motorID,
		int	encoderID,
		double	encoderTickPerTurn
	)

Constructor with default gearbox ratio.

Paramètres

arduinoX	Pointer to ArduinoX instance.
layer	PID layer.
motorID	ID of the motor.
encoderID	ID of the encoder.
encoderTickPerTurn	Encoder ticks per turn.

◆ MotorController() [4/8]

MotorController::MotorController	(	ArduinoX *	arduinoX,
		PidLayer	layer,
		int	motorID,
		int	encoderID
	)

Constructor with default gearbox ratio and encoder ticks per turn.

Paramètres

arduinoX	Pointer to ArduinoX instance.
layer	PID layer.
motorID	ID of the motor.
encoderID	ID of the encoder.

◆ MotorController() [5/8]

MotorController::MotorController	(	ArduinoX *	arduinoX,
		int	motorID,
		int	encoderID,
		double	gearBoxRatio,
		double	encoderTickPerTurn,
		double	convertionRatio
	)

Constructor with all parameters except layer.

Paramètres

arduinoX	Pointer to ArduinoX instance.
motorID	ID of the motor.
encoderID	ID of the encoder.
gearBoxRatio	Gearbox ratio.
encoderTickPerTurn	Encoder ticks per turn.
convertionRatio	Conversion ratio.

◆ MotorController() [6/8]

MotorController::MotorController	(	ArduinoX *	arduinoX,
		int	motorID,
		int	encoderID,
		double	gearBoxRatio,
		double	encoderTickPerTurn
	)

Constructor without conversion ratio and layer.

Paramètres

arduinoX	Pointer to ArduinoX instance.
motorID	ID of the motor.
encoderID	ID of the encoder.
gearBoxRatio	Gearbox ratio.
encoderTickPerTurn	Encoder ticks per turn.

◆ MotorController() [7/8]

MotorController::MotorController	(	ArduinoX *	arduinoX,
		int	motorID,
		int	encoderID,
		double	encoderTickPerTurn
	)

Constructor with default gearbox ratio and without layer.

Paramètres

arduinoX	Pointer to ArduinoX instance.
motorID	ID of the motor.
encoderID	ID of the encoder.
encoderTickPerTurn	Encoder ticks per turn.

◆ MotorController() [8/8]

MotorController::MotorController	(	ArduinoX *	arduinoX,
		int	motorID,
		int	encoderID
	)

Constructor with default gearbox ratio, encoder ticks per turn, and without layer.

Paramètres

arduinoX	Pointer to ArduinoX instance.
motorID	ID of the motor.
encoderID	ID of the encoder.

Documentation des fonctions membres

◆ commandFunction()

void MotorController::commandFunction ( double command )

Command function for the motor.

Paramètres

command Command value.

This function sets the motor PWM value based on the given command, constrained between -1.0 and 1.0, after adjusting with the last conversion stage.

◆ degreesRatio()

double MotorController::degreesRatio ( )

static

Calculate the degrees ratio.

Renvoie: Degrees ratio.

◆ getConversionRatio()

double MotorController::getConversionRatio ( )

Get the conversion ratio.

Renvoie: Conversion ratio.

◆ getEncoderID()

int MotorController::getEncoderID ( )

Get the encoder ID.

Renvoie: ID of the encoder.

◆ getEncoderTickPerTurn()

double MotorController::getEncoderTickPerTurn ( )

Get the encoder ticks per turn.

Renvoie: Encoder ticks per turn.

◆ getGearBoxRatio()

double MotorController::getGearBoxRatio ( )

Get the gearbox ratio.

Renvoie: Gearbox ratio.

◆ getLayer()

PidLayer MotorController::getLayer ( )

Get the PID layer.

Renvoie: PID layer.

◆ getMotorID()

int MotorController::getMotorID ( )

Get the motor ID.

Renvoie: ID of the motor.

◆ measurementFunction()

double MotorController::measurementFunction ( )

Measurement function for the motor.

Renvoie: Measurement value.

This function reads the encoder value and converts it using the first conversion stage to get the measured value.

◆ radiansRatio()

double MotorController::radiansRatio ( )

static

Calculate the radians ratio.

Renvoie: Radians ratio.

◆ setConversionRatio()

void MotorController::setConversionRatio ( double convertionRatio )

Set the conversion ratio.

Paramètres

convertionRatio Conversion ratio.

◆ setEncoderID()

void MotorController::setEncoderID ( int encoderID )

Set the encoder ID.

Paramètres

encoderID ID of the encoder.

◆ setEncoderTickPerTurn()

void MotorController::setEncoderTickPerTurn ( double encoderTickPerTurn )

Set the encoder ticks per turn.

Paramètres

encoderTickPerTurn Encoder ticks per turn.

◆ setGearBoxRatio()

void MotorController::setGearBoxRatio ( double gearBoxRatio )

Set the gearbox ratio.

Paramètres

gearBoxRatio Gearbox ratio.

◆ setLayer()

void MotorController::setLayer ( PidLayer layer )

Set the PID layer.

Paramètres

layer PID layer.

◆ setMotorID()

void MotorController::setMotorID ( int motorID )

Set the motor ID.

Paramètres

motorID ID of the motor.

◆ turnRatio()

double MotorController::turnRatio ( )

static

Calculate the turn ratio.

Renvoie: Turn ratio.

◆ wheelRatio()

double MotorController::wheelRatio ( double diameter )

static

Calculate the wheel ratio based on diameter.

Paramètres

diameter Diameter of the wheel.

Renvoie: Wheel ratio.

La documentation de cette classe a été générée à partir du fichier suivant :

src/MotorController.h
src/MotorController.cpp

Fonctions membres publiques

Fonctions membres publiques statiques

Description détaillée

Documentation des constructeurs et destructeur

◆ MotorController() [1/8]

◆ MotorController() [2/8]

◆ MotorController() [3/8]

◆ MotorController() [4/8]

◆ MotorController() [5/8]

◆ MotorController() [6/8]

◆ MotorController() [7/8]

◆ MotorController() [8/8]

Documentation des fonctions membres

◆ commandFunction()

◆ degreesRatio()

◆ getConversionRatio()

◆ getEncoderID()

◆ getEncoderTickPerTurn()

◆ getGearBoxRatio()

◆ getLayer()

◆ getMotorID()

◆ measurementFunction()

◆ radiansRatio()

◆ setConversionRatio()

◆ setEncoderID()

◆ setEncoderTickPerTurn()

◆ setGearBoxRatio()

◆ setLayer()

◆ setMotorID()

◆ turnRatio()

◆ wheelRatio()