Classes
struct	Config

	MotorControl (Motor &motor, Encoder &encoder, Config config)

void	setSpeed (float desiredSpeed)

float	desiredSpeed () const

float	actualSpeed () const

void	regulate (uint16_t timeSinceLastCallUs)

Config	config () const

void	setConfig (Config &config)

void	reset ()

Constructor & Destructor Documentation

nxpcup::MotorControl::MotorControl	(	Motor &	motor,
		Encoder &	encoder,
		Config	config
	)

inline

Constructor of class MotorControl.

Parameters

motor	which will be regulated
encoder	with information about the motor movements
config	structConfig}

Member Function Documentation

float nxpcup::MotorControl::actualSpeed ( ) const

inline

Get actual speed.

Config nxpcup::MotorControl::config ( ) const

inline

Get the actual configuration of theMotorControl}.

float nxpcup::MotorControl::desiredSpeed ( ) const

inline

Get desire speed.

void nxpcup::MotorControl::regulate ( uint16_t timeSinceLastCallUs )

inline

Calculate and set new power for motor.

Take actual speed from encoder and required speed -> calculate error -> update power.

Parameters

timeSinceLastCallUs time in microseconds from last call this function (NOT USED)

void nxpcup::MotorControl::reset ( )

inline

Reset the whole regulator.

void nxpcup::MotorControl::setConfig ( Config & config )

inline

Set new configuration forMotorControl}.

Parameters

config structConfig}

void nxpcup::MotorControl::setSpeed ( float desiredSpeed )

inline

Set desired speed.

Parameters

desireSpeed in [m/s]

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