ServoMotor Class Reference

#include <ServoMotor.hpp>

Inheritance diagram for ServoMotor:

Collaboration diagram for ServoMotor:

Public Member Functions
	ServoMotor (uint8_t controlPin, int minPulseLength=smartcarlib::constants::servomotor::kDefaultMinPulseLength, int idlePulseLength=smartcarlib::constants::servomotor::kDefaultIdlePulseLength, int maxPulseLength=smartcarlib::constants::servomotor::kDefaultMaxPulseLength)
	Constructs a servo motor. More...
void	setSpeed (int speed) override
	Sets the motor speed and direction as the percentage of the maximum possible speed, where the sign of the argument represents the direction. More...
Public Member Functions inherited from Motor
virtual	~Motor ()=default

Detailed Description

A motor that is controlled via the length of pulses that are sent to it through a single signal line. It can be either a traditional servo motor that controls a shaft (e.g. for steering) or an Electronic Speed Controller (ESC) that interpets speed in the same manner and controls a (typically brushless) motor.

Definition at line 29 of file ServoMotor.hpp.

Constructor & Destructor Documentation

ServoMotor()

ServoMotor::ServoMotor	(	uint8_t	controlPin,
		int	minPulseLength = smartcarlib::constants::servomotor::kDefaultMinPulseLength,
		int	idlePulseLength = smartcarlib::constants::servomotor::kDefaultIdlePulseLength,
		int	maxPulseLength = smartcarlib::constants::servomotor::kDefaultMaxPulseLength
	)

Constructs a servo motor.

Parameters

controlPin	The pin controlling the speed of the motor
minPulseLength	The motor's minimum pulse length in microseconds
idlePulseLength	The pulse length that the motor is idle in microseconds
maxPulseLength	The motor's maximum pulse length in microseconds

Example:

const unsigned short ESC_PIN = 7;
ServoMotor esc(ESC_PIN);

Definition at line 7 of file ServoMotor.cpp.

Member Function Documentation

setSpeed()

void ServoMotor::setSpeed ( int  speed )

overridevirtual

Sets the motor speed and direction as the percentage of the maximum possible speed, where the sign of the argument represents the direction.

Parameters

speed

The speed and direction within the range of [-100, 100]. -100 means that the motor is spinning at full speed towards the direction we have defined as backward. 100 interpreted as full speed forward. 0 means that the motor is at its idle/neutral state.

Example:

motor.setSpeed(0); // Stop the motor

Implements Motor.

Definition at line 19 of file ServoMotor.cpp.

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

• src/motor/digital/servo/ServoMotor.hpp
• src/motor/digital/servo/ServoMotor.cpp