Motor Class Reference

Motor control interface. More...

#include <c++/Motor.H>

Collaboration diagram for Motor:

[legend]List of all members.

Public Types
enum	Port { A, B, C }
	valid port designators More...
enum	Limits { min = 0, max = 255 }
	motor speed range More...
Public Member Functions
	Motor (const Port port)
	construct a motor connected to {port}
	~Motor ()
	destroy our motor instance
const void	speed (const unsigned char speed) const
	set the motor speed
const void	direction (const MotorDirection dir) const
	set the motor direction
const void	forward () const
	set motor direction to forward
const void	forward (const unsigned char s) const
	set motor direction to forward at speed {s}
const void	reverse () const
	set the motor direction to reverse
const void	reverse (const unsigned char s) const
	set the motor direction to reverse at speed {s}
const void	brake () const
	set the motor to brake
const void	brake (int duration) const
	set the motor to brake and delay return
const void	off () const
	turn the motor off this disables power and the motor coasts to a stop
Private Attributes
void(*	ms )(unsigned char speed)
	current velocity setting for this motor instance
void(*	md )(const MotorDirection dir)
	current direction setting for this motor instance

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Detailed Description

Motor control interface.

This class is designed to manipulate motors attached to an RCX

See also:

The other control classes: MotorPair, Sound, Lamp

Design Note

I avoided using derived classes since they were typically three times larger. Also, if one is using Motor(Motor::A), all the decision logic is optimized away in the compiler, so no extra space is used for that.

Definition at line 38 of file Motor.H.

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Member Enumeration Documentation

enum Motor::Limits

motor speed range Enumeration values: min  Minimum velocity (0). max  Maximum velocity (255). Definition at line 52 of file Motor.H.

enum Motor::Port

valid port designators Enumeration values: A  RCX output pad A. B  RCX output pad B. C  RCX output pad C. Definition at line 43 of file Motor.H.

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Constructor & Destructor Documentation

Motor::Motor (  const Port  port  )  [inline]

construct a motor connected to {port} Parameters: port  designator of pad to which this motor is connected Definition at line 61 of file Motor.H. References A, B, md, motor_a_dir(), motor_a_speed(), motor_b_dir(), motor_b_speed(), motor_c_dir(), motor_c_speed(), and ms.

Motor::~Motor (   )  [inline]

destroy our motor instance Side Effects: When the class is destroyed, the motor is turned off. Definition at line 74 of file Motor.H.

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Member Function Documentation

const void Motor::brake (  int  duration  )  const [inline]

set the motor to brake and delay return Parameters: duration  time in mSec to delay before returning Returns: nothing Todo: describe what brake means Definition at line 124 of file Motor.H.

const void Motor::brake (   )  const [inline]

set the motor to brake Returns: nothing Todo: describe what brake means Definition at line 117 of file Motor.H. Referenced by MotorPair::pivotLeft(), and MotorPair::pivotRight().

const void Motor::direction (  const MotorDirection  dir  )  const [inline]

set the motor direction Parameters: dir  must be one of the MotorDirection values Returns: Nothing Definition at line 87 of file Motor.H. Referenced by MotorPair::brake(), MotorPair::direction(), MotorPair::left(), MotorPair::off(), MotorPair::pivotLeft(), MotorPair::pivotRight(), and MotorPair::right().

const void Motor::forward (  const unsigned char  s  )  const [inline]

set motor direction to forward at speed {s} Parameters: s  the desired speed. Must be between min (0) and max (255) Returns: Nothing Definition at line 99 of file Motor.H.

const void Motor::forward (   )  const [inline]

set motor direction to forward Returns: Nothing Definition at line 92 of file Motor.H.

const void Motor::off (   )  const [inline]

turn the motor off this disables power and the motor coasts to a stop Returns: nothing Definition at line 130 of file Motor.H. References MotorDirection.

const void Motor::reverse (  const unsigned char  s  )  const [inline]

set the motor direction to reverse at speed {s} Parameters: s  the desired speed. Must be between min (0) and max (255) Returns: Nothing Definition at line 111 of file Motor.H.

const void Motor::reverse (   )  const [inline]

set the motor direction to reverse Returns: Nothing Definition at line 104 of file Motor.H.

const void Motor::speed (  const unsigned char  speed  )  const [inline]

set the motor speed Parameters: speed  the desired setting. Must be between min (0) and max (255) Returns: Nothing Definition at line 81 of file Motor.H. Referenced by MotorPair::speed().

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Member Data Documentation

void(* Motor::md)(const MotorDirection dir) [private]

current direction setting for this motor instance Referenced by Motor().

void(* Motor::ms)(unsigned char speed) [private]

current velocity setting for this motor instance Referenced by Motor().

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

• include/c++/Motor.H

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brickOS is released under the Mozilla Public License. Original code copyright 1998-2002 by the authors.

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Generated on Mon Feb 16 21:02:34 2004 for brickOS Kernel Developer by 1.3.5