Main Page | Class Hierarchy | Alphabetical List | Class List | File List | Class Members | File Members | Related Pages

MotorPair Class Reference

Pair-of-motors control interface. More...

#include <c++/MotorPair.H>

Collaboration diagram for MotorPair:

Collaboration graph
[legend]
List of all members.

Public Types

enum  Limits { min = Motor::min, max = Motor::max }
 the minimum and maximum speeds a motor can go, its limits. More...


Public Member Functions

 MotorPair (const Motor::Port lport, const Motor::Port rport)
 define a pair of motors specifying the connection of each to the RCX

 ~MotorPair ()
 destroy this MotorPair instance

void speed (const int s) const
 set the speed of our two motors

void direction (const MotorDirection dir) const
 set the direction of our two motors

void forward () const
 move forward

void reverse () const
 move reverse

void brake () const
 stop without coasting

void off () const
 stop but allow coasting

void left () const
 turn left about the center of the robot

void pivotLeft () const
 turn left about the left wheel of the robot

void right () const
 turn right about the center of the robot

void pivotRight () const
 turn right about the right wheel of the robot

void forward (const int s) const
 move forward at speed {s}

void reverse (const int s) const
 move reverse (go backwards) at speed {s}

void left (const int s) const
 turn left at speed {s}

void pivotLeft (const int s) const
 turn left at speed {s} but pivot around left wheel

void right (const int s) const
 turn right at speed {s}

void pivotRight (const int s) const
 turn right at speed {s} but pivot around right wheel

void brake (const int ms) const
 apply the brakes to both motors then delay for {ms} mSec


Private Attributes

const Motor mLeft
 the left Motor instance

const Motor mRight
 the right Motor instance


Detailed Description

Pair-of-motors control interface.

Often our robots use two motors, one on either side, which should be controlled together as one. This class makes this simple by allowing the coder to treat the pair as a single motor.

The two motors can be connected to any of the output ports. When creating an instance of this class, simply specify which two output ports are involved.

The normal Motor methods speed(), direction(), forward(), reverse(), brake(), and off() still apply.

This class adds two new types of control:

Note:
both motors will be turned off when this class is destroyed.
See also:
The other control classes: Motor, Sound, Lamp

Definition at line 57 of file MotorPair.H.


Member Enumeration Documentation

enum MotorPair::Limits
 

the minimum and maximum speeds a motor can go, its limits.

Enumeration values:
min  minimum motor speed setting
max  maximum motor speed setting

Definition at line 167 of file MotorPair.H.


Constructor & Destructor Documentation

MotorPair::MotorPair const Motor::Port  lport,
const Motor::Port  rport
[inline]
 

define a pair of motors specifying the connection of each to the RCX

Definition at line 62 of file MotorPair.H.

References mLeft, and mRight.

MotorPair::~MotorPair  )  [inline]
 

destroy this MotorPair instance

Note:
both motors will be turned off when this class is destroyed

Definition at line 67 of file MotorPair.H.


Member Function Documentation

void MotorPair::brake const int  ms  )  const [inline]
 

apply the brakes to both motors then delay for {ms} mSec

Parameters:
ms the time in mSec to wait before returning to caller

Definition at line 164 of file MotorPair.H.

References brake(), and delay().

void MotorPair::brake  )  const [inline]
 

stop without coasting

Definition at line 94 of file MotorPair.H.

References brake, Motor::direction(), mLeft, and mRight.

Referenced by brake().

void MotorPair::direction const MotorDirection  dir  )  const [inline]
 

set the direction of our two motors

Parameters:
dir one of the MotorDirection values

Definition at line 74 of file MotorPair.H.

References Motor::direction(), fwd, mLeft, mRight, and rev.

Referenced by forward(), and reverse().

void MotorPair::forward const int  s  )  const [inline]
 

move forward at speed {s}

Parameters:
s the desired speed (power level)

Definition at line 136 of file MotorPair.H.

References forward(), and speed().

void MotorPair::forward  )  const [inline]
 

move forward

Definition at line 88 of file MotorPair.H.

References direction(), and fwd.

Referenced by forward().

void MotorPair::left const int  s  )  const [inline]
 

turn left at speed {s}

Parameters:
s the desired speed (power level)
Note:
spins about the center of the motor pair

Definition at line 145 of file MotorPair.H.

References left(), and speed().

void MotorPair::left  )  const [inline]
 

turn left about the center of the robot

Note:
both motors in the pair are turning

Definition at line 107 of file MotorPair.H.

References Motor::direction(), fwd, mLeft, and mRight.

Referenced by left().

void MotorPair::off  )  const [inline]
 

stop but allow coasting

Definition at line 100 of file MotorPair.H.

References Motor::direction(), mLeft, mRight, and off.

void MotorPair::pivotLeft const int  s  )  const [inline]
 

turn left at speed {s} but pivot around left wheel

Parameters:
s the desired speed (power level)
Note:
spins about the left wheel

Definition at line 150 of file MotorPair.H.

References pivotLeft(), and speed().

void MotorPair::pivotLeft  )  const [inline]
 

turn left about the left wheel of the robot

Note:
the left motor is brake'd while the right motor is turning

Definition at line 114 of file MotorPair.H.

References Motor::brake(), Motor::direction(), mLeft, mRight, and rev.

Referenced by pivotLeft().

void MotorPair::pivotRight const int  s  )  const [inline]
 

turn right at speed {s} but pivot around right wheel

Parameters:
s the desired speed (power level)
Note:
spins about the right wheel

Definition at line 160 of file MotorPair.H.

References pivotRight(), and speed().

void MotorPair::pivotRight  )  const [inline]
 

turn right about the right wheel of the robot

Note:
the right motor is brake'd while the left motor is turning

Definition at line 128 of file MotorPair.H.

References Motor::brake(), Motor::direction(), fwd, mLeft, and mRight.

Referenced by pivotRight().

void MotorPair::reverse const int  s  )  const [inline]
 

move reverse (go backwards) at speed {s}

Parameters:
s the desired speed (power level)

Definition at line 140 of file MotorPair.H.

References reverse(), and speed().

void MotorPair::reverse  )  const [inline]
 

move reverse

Definition at line 91 of file MotorPair.H.

References direction(), and rev.

Referenced by reverse().

void MotorPair::right const int  s  )  const [inline]
 

turn right at speed {s}

Parameters:
s the desired speed (power level)
Note:
spins about the center of the motor pair

Definition at line 155 of file MotorPair.H.

References right(), and speed().

void MotorPair::right  )  const [inline]
 

turn right about the center of the robot

Note:
both motors in the pair are turning

Definition at line 121 of file MotorPair.H.

References Motor::direction(), mLeft, mRight, and rev.

Referenced by right().

void MotorPair::speed const int  s  )  const [inline]
 

set the speed of our two motors

Definition at line 70 of file MotorPair.H.

References mLeft, mRight, and Motor::speed().

Referenced by forward(), left(), pivotLeft(), pivotRight(), reverse(), and right().


Member Data Documentation

const Motor MotorPair::mLeft [private]
 

the left Motor instance

Definition at line 173 of file MotorPair.H.

Referenced by brake(), direction(), left(), MotorPair(), off(), pivotLeft(), pivotRight(), right(), and speed().

const Motor MotorPair::mRight [private]
 

the right Motor instance

Definition at line 174 of file MotorPair.H.

Referenced by brake(), direction(), left(), MotorPair(), off(), pivotLeft(), pivotRight(), right(), and speed().


The documentation for this class was generated from the following file:
brickOS is released under the Mozilla Public License.
Original code copyright 1998-2002 by the authors.

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