okapi::ADIMotor Class Reference

#include <adiMotor.hpp>

Inheritance diagram for okapi::ADIMotor:

Public Member Functions
	ADIMotor (std::uint8_t iport, bool ireverse=false, const std::shared_ptr< Logger > &logger=Logger::getDefaultLogger())
	A motor in an ADI port.
	ADIMotor (std::pair< std::uint8_t, std::uint8_t > iports, bool ireverse=false, const std::shared_ptr< Logger > &logger=Logger::getDefaultLogger())
	A motor in an ADI port.
virtual void	moveVoltage (std::int8_t ivoltage) const
	Set the voltage to the motor.
void	controllerSet (double ivalue) override
	Writes the value of the controller output.

Protected Attributes
std::uint8_t	smartPort
std::uint8_t	port
std::int8_t	reversed

Detailed Description

Definition at line 13 of file adiMotor.hpp.

Constructor & Destructor Documentation

ADIMotor() [1/2]

okapi::ADIMotor::ADIMotor	(	std::uint8_t	iport,
		bool	ireverse = false,
		const std::shared_ptr< Logger > &	logger = Logger::getDefaultLogger()
	)

A motor in an ADI port.

auto mtr = ADIMotor('A');
auto reversedMtr = ADIMotor('A', true);

Parameters

iport	The ADI port number ([1, 8], [a, h], [A, H]).
ireverse	Whether the motor is reversed.
logger	The logger that initialization warnings will be logged to.

ADIMotor() [2/2]

okapi::ADIMotor::ADIMotor	(	std::pair< std::uint8_t, std::uint8_t >	iports,
		bool	ireverse = false,
		const std::shared_ptr< Logger > &	logger = Logger::getDefaultLogger()
	)

A motor in an ADI port.

auto mtr = ADIMotor({1, 'A'}, false);
auto reversedMtr = ADIMotor({1, 'A'}, true);

Parameters

iports	The ports the motor is plugged in to in the order {smart port, motor port}. The smart port is the smart port number ([1, 21]). The motor port is the ADI port number ([1, 8], [a, h], [A, H]).
ireverse	Whether the motor is reversed.
logger	The logger that initialization warnings will be logged to.

Member Function Documentation

controllerSet()

void okapi::ADIMotor::controllerSet ( double  ivalue )

overridevirtual

Writes the value of the controller output.

This method might be automatically called in another thread by the controller. The range of input values is expected to be [-1, 1].

Parameters

ivalue

the controller's output in the range [-1, 1]

Implements okapi::ControllerOutput< double >.

moveVoltage()

virtual void okapi::ADIMotor::moveVoltage ( std::int8_t  ivoltage ) const

virtual

Set the voltage to the motor.

Parameters

ivoltage

voltage in the range [-127, 127].

Member Data Documentation

port

std::uint8_t okapi::ADIMotor::port

protected

Definition at line 66 of file adiMotor.hpp.

reversed

std::int8_t okapi::ADIMotor::reversed

protected

Definition at line 67 of file adiMotor.hpp.

smartPort

std::uint8_t okapi::ADIMotor::smartPort

protected

Definition at line 65 of file adiMotor.hpp.

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The documentation for this class was generated from the following file:

• include/okapi/impl/device/motor/adiMotor.hpp