Mtr Class Reference

Motor Driver for XRCU. More...

#include <Motors.h>

Inheritance diagram for Mtr:

Public Member Functions
	Mtr (const uint32_t pwm_ch, const uint32_t pwm_pin, const uint32_t dir_pin)
	Constructor for Mtr objects.
void	begin ()
	Activates the motor.
void	end ()
	Deactivates the motor and release the occupied resources.
bool	get_reverse_flag ()
	Gets whether the motor spinning direction is reversed when driving to the motor.
void	set_reverse_flag (bool reverse)
	Sets whether the motor spinning direction is reversed when driving to the motor.
int16_t	set_spd (int16_t spd)
	Sets the motor to spin at a new speed, and return its motor speed after setting.
int16_t	operator= (const int16_t spd)
	Sets the motor to spin at a new speed, and return its motor speed after setting.
int16_t	operator+= (const int16_t spd_inc)
	Increases this motor speed by spd_inc.
int16_t	operator-= (const int16_t spd_dec)
	Decreases this motor speed by spd_dec.
int16_t	operator++ ()
	Increases this motor speed by 1.
int16_t	operator-- ()
	Decreases this motor speed by 1.
int16_t	get_spd ()
	Gets the motor speed.
	operator int16_t ()
	Gets the motor speed.

Additional Inherited Members
Protected Member Functions inherited from Supported_actuator
	Supported_actuator ()
	Creates an object of a supported actuator.
Protected Member Functions inherited from Supported_module
	Supported_module ()
	Creates an object of a supported module.

Detailed Description

Motor Driver for XRCU.

Author

YH Choi @ JM9

Constructor & Destructor Documentation

Mtr()

Mtr::Mtr	(	const uint32_t	pwm_ch,
		const uint32_t	pwm_pin,
		const uint32_t	dir_pin )

Constructor for Mtr objects.

Parameters

pwm_ch	the pwm channel
pwm_pin	the pwm pin (digital output w/ PWM feature)
dir_pin	the direction pin (digital output w/o PWM feature)

Member Function Documentation

get_reverse_flag()

bool Mtr::get_reverse_flag

(

)

Gets whether the motor spinning direction is reversed when driving to the motor.

Returns

true if the motor spinning direction is reversed, false otherwise

get_spd()

int16_t Mtr::get_spd

(

)

Gets the motor speed.

Returns

the motor speed

operator int16_t()

Mtr::operator int16_t

(

)

Gets the motor speed.

Returns

the motor speed

operator++()

int16_t Mtr::operator++

(

)

Increases this motor speed by 1.

Returns

the final motor speed

operator+=()

int16_t Mtr::operator+=

(

const int16_t

spd_inc

)

Increases this motor speed by spd_inc.

Parameters

spd_inc

the motor speed to be added to current motor speed

Returns

the final motor speed

operator--()

int16_t Mtr::operator--

(

)

Decreases this motor speed by 1.

Returns

the final motor speed

operator-=()

int16_t Mtr::operator-=

(

const int16_t

spd_dec

)

Decreases this motor speed by spd_dec.

Parameters

spd_dec

the motor speed to be subtracted from current motor speed

Returns

the final motor speed

operator=()

int16_t Mtr::operator=

(

const int16_t

spd

)

Sets the motor to spin at a new speed, and return its motor speed after setting.

Parameters

spd	the new motor speed

Returns

the actual motor speed set to the motor

set_reverse_flag()

void Mtr::set_reverse_flag

(

bool

reverse

)

Sets whether the motor spinning direction is reversed when driving to the motor.

Parameters

reverse

true if the motor spinning direction is reversed, false otherwise

set_spd()

int16_t Mtr::set_spd

(

int16_t

spd

)

Sets the motor to spin at a new speed, and return its motor speed after setting.

Parameters

spd	the new motor speed

Returns

the actual motor speed set to the motor

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

• Motors/src/Motors.h
• Motors/src/Motors.cpp