Motor Class Reference

Motor control interface. More...

#include <c++/Motor.H>

Collaboration diagram for Motor:

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} More...
	~Motor ()
	destroy our motor instance More...
const void	speed (const unsigned char speed) const
	set the motor speed More...
const void	direction (const MotorDirection dir) const
	set the motor direction More...
const void	forward () const
	set motor direction to forward More...
const void	forward (const unsigned char s) const
	set motor direction to forward at speed {s} More...
const void	reverse () const
	set the motor direction to reverse More...
const void	reverse (const unsigned char s) const
	set the motor direction to reverse at speed {s} More...
const void	brake () const
	set the motor to brake More...
const void	brake (int duration) const
	set the motor to brake and delay return More...
const void	off () const
	turn the motor off this disables power and the motor coasts to a stop More...

Private Attributes
void(*	ms )(unsigned char speed)
	current velocity setting for this motor instance More...
void(*	md )(const MotorDirection dir)
	current direction setting for this motor instance More...

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.

Member Enumeration Documentation

enum Motor::Limits

motor speed range

Enumerator
min	Minimum velocity (0)
max	Maximum velocity (255)

Definition at line 52 of file Motor.H.

enum Motor::Port

valid port designators

Enumerator
A	RCX output pad A.
B	RCX output pad B.
C	RCX output pad C.

Definition at line 43 of file Motor.H.

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.

Motor::~Motor ( )

inline

destroy our motor instance

Side Effects:

When the class is destroyed, the motor is turned off.

Definition at line 73 of file Motor.H.

References off().

Member Function Documentation

const void Motor::brake ( ) const

inline

set the motor to brake

Returns

nothing

Todo:

describe what brake means

Definition at line 116 of file Motor.H.

References direction().

Referenced by MotorPair::pivotLeft(), and MotorPair::pivotRight().

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 123 of file Motor.H.

References brake(), and delay().

Referenced by brake().

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 86 of file Motor.H.

Referenced by MotorPair::brake(), brake(), MotorPair::direction(), forward(), MotorPair::left(), MotorPair::off(), off(), MotorPair::pivotLeft(), MotorPair::pivotRight(), reverse(), and MotorPair::right().

const void Motor::forward ( ) const

inline

set motor direction to forward

Returns

Nothing

Definition at line 91 of file Motor.H.

References direction(), and fwd.

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 98 of file Motor.H.

References forward(), and speed().

Referenced by forward().

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 129 of file Motor.H.

References direction().

Referenced by ~Motor().

const void Motor::reverse ( ) const

inline

set the motor direction to reverse

Returns

Nothing

Definition at line 103 of file Motor.H.

References direction(), and rev.

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 110 of file Motor.H.

References reverse(), and speed().

Referenced by reverse().

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 80 of file Motor.H.

References speed().

Referenced by forward(), reverse(), MotorPair::speed(), and speed().

Member Data Documentation

void(* Motor::md) (const MotorDirection dir)

private

current direction setting for this motor instance

Definition at line 133 of file Motor.H.

void(* Motor::ms) (unsigned char speed)

private

current velocity setting for this motor instance

Definition at line 132 of file Motor.H.

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

• include/c++/Motor.H