ev3_control::H4REv3Motor Class Reference

Inheritance diagram for ev3_control::H4REv3Motor:

Collaboration diagram for ev3_control::H4REv3Motor:

Public Member Functions
	H4REv3Motor (const std::string &port_name)
bool	setDutyCycleSP (int value)
bool	setSpeedRegulation (Ev3Strings::Ev3Switch onoff)
bool	setSpeedSP (int value)
bool	setPositionSP (int value)
bool	position (int &value)
bool	speed (int &value)
bool	setMotorCommand (Ev3Strings::Ev3MotorCommands command)
bool	setMotorPolarity (Ev3Strings::Ev3Polarity pol)
bool	setSpeedPID_Kp (unsigned int value)
bool	setSpeedPID_Ki (unsigned int value)
bool	setSpeedPID_Kd (unsigned int value)
Public Member Functions inherited from ev3_control::H4REv3Port
	H4REv3Port (const std::string &port_name, H4Ev3IoPortType port_type)
bool	isConnected ()
bool	readInt (const char *filename, int &value, OpenFile &openFile, bool device_dir=true)
bool	writeInt (const char *filename, int value, OpenFile &openFile, bool device_dir=true)
const std::string &	getPortName () const
H4Ev3IoPortType	getPortType () const
bool	getDriverName (Ev3Strings::Ev3DriverName &drvname)
template<typename T >
bool	writeKey (const char *filename, const StringEnum< T > &strmap, T key, OpenFile &openFile, bool device_dir=true)
template<typename T >
bool	readKey (const char *filename, const StringEnum< T > &strmap, T &key, OpenFile &openFile, bool device_dir=true)

Additional Inherited Members
Public Types inherited from ev3_control::H4REv3Port
enum	H4Ev3IoPortType { H4REV3PORT_OUT, H4REV3PORT_IN }
Protected Member Functions inherited from ev3_control::H4REv3Port
FILE *	get_fileptr_ (const char *filename, OpenFile::FileMode mode, OpenFile &file, bool device_dir=true)
bool	getDeviceDirectory ()
bool	getPortDirectory ()
Protected Attributes inherited from ev3_control::H4REv3Port
OpenFile	f_driver_name
Ev3Strings::Ev3DriverName	last_driver_
int	last_driver_check_connected_id_
const std::string	port_name_
bool	connected_
int	connect_id_
H4Ev3IoPortType	port_type_
FileNameBuffer	sys_port_directory_
FileNameBuffer	sys_device_directory_

Constructor & Destructor Documentation

ev3_control::H4REv3Motor::H4REv3Motor ( const std::string &  port_name )

inline

Parameters

port_name

Member Function Documentation

bool ev3_control::H4REv3Motor::position ( int &  value )

inline

Get the current position of the motor

Parameters

[out]

value

The position value if return is true

Returns

True if successful, false otherwise

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bool ev3_control::H4REv3Motor::setDutyCycleSP ( int  value )

inline

Sets the pwm duty cycle value

Parameters

value

The pwm value

Returns

True if successful, false otherwise

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bool ev3_control::H4REv3Motor::setMotorCommand ( Ev3Strings::Ev3MotorCommands  command )

inline

Setting the command (especially for motors)

Parameters

command

The

Returns

True if successful, false otherwise

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bool ev3_control::H4REv3Motor::setMotorPolarity ( Ev3Strings::Ev3Polarity  pol )

inline

Sets the rotation direction of the motor

Parameters

pol	The direction

Returns

True if successful

bool ev3_control::H4REv3Motor::setPositionSP ( int  value )

inline

Set Position setpoint for position control

Parameters

value

The position value

Returns

True if successful, false otherwise

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bool ev3_control::H4REv3Motor::setSpeedPID_Kd ( unsigned int  value )

inline

Sets the Kd part of the motors speed control

Parameters

value

Returns

True if successful

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bool ev3_control::H4REv3Motor::setSpeedPID_Ki ( unsigned int  value )

inline

Sets the Ki part of the motors speed control

Parameters

value

Returns

True if successful

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bool ev3_control::H4REv3Motor::setSpeedPID_Kp ( unsigned int  value )

inline

Sets the Kp part of the motors speed control

Parameters

value

Returns

True if successful

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bool ev3_control::H4REv3Motor::setSpeedRegulation ( Ev3Strings::Ev3Switch  onoff )

inline

This function enables or disables the speed regulation functionality

Parameters

onoff

On/Off

Returns

True if successful, false otherwise

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bool ev3_control::H4REv3Motor::setSpeedSP ( int  value )

inline

Set speed setpoint

Parameters

value

The speed value in 1/10 rounds per second

Returns

True if successful, false otherwise

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bool ev3_control::H4REv3Motor::speed ( int &  value )

inline

Get the current speed of the motor

Parameters

[out]

value

The position value if return is true

Returns

True if successful, false otherwise

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

• /data/Daten/Entwicklung/ros_workspaces/h4r_ev3_ws/src/h4r_ev3/h4r_ev3_control/include/h4r_ev3_control/H4REv3Port.h