MotorPair Class Reference

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

#include <c++/MotorPair.H>

Collaboration diagram for MotorPair:


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:

turning about the center (between the two wheels) [left(), right()]

turning while using one of the wheels as the center of rotation [pivotLeft() and pivotRight()].

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:

include/c++/MotorPair.H

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

1.3.5

MotorPair Class Reference

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation