#include <Romi32U4Motors.h>

Inherits Romi32U4Motor.

Public Member Functions
void	setMotorEffort (int16_t effort)

Public Member Functions inherited from Romi32U4Motor
	Romi32U4Motor (void)

void	setPIDCoeffients (float kp, float ki)

void	allowTurbo (bool turbo)
	Turns turbo mode on or off. More...

void	handleISR (bool newA, bool newB)

Protected Member Functions
void	setEffort (int16_t effort)

Protected Member Functions inherited from Romi32U4Motor
virtual void	setEffort (int16_t effort)=0
	Sets the effort for the motor directly. Overloaded for the left and right motors. Use Chassis::setEfforts() from the user code to control motor efforts directly. More...

int16_t	getCount (void)

int16_t	getAndResetCount (void)

void	setTargetSpeed (float targetSpeed)

void	moveFor (int16_t amount)

bool	checkComplete (void)

void	update (void)

void	calcEncoderDelta (void)

Additional Inherited Members
Static Public Member Functions inherited from Romi32U4Motor
static void	init ()

Protected Types inherited from Romi32U4Motor
enum	CTRL_MODE : uint8_t { CTRL_DIRECT , CTRL_SPEED , CTRL_POS }

Static Protected Member Functions inherited from Romi32U4Motor
static void	initMotors ()

static void	initEncoders ()

Protected Attributes inherited from Romi32U4Motor
volatile CTRL_MODE	ctrlMode = CTRL_DIRECT

volatile int16_t	speed = 0

float	targetSpeed = 0

int16_t	targetPos = 0

int16_t	maxEffort = 300

volatile int16_t	prevCount = 0

volatile int16_t	count = 0

volatile int16_t	lastA = 0

volatile int16_t	lastB = 0

PIDController	pidCtrl

Detailed Description

A derived class for the left motor.

Definition at line 130 of file Romi32U4Motors.h.

Member Function Documentation

◆ setEffort()

void LeftMotor::setEffort ( int16_t effort )

protectedvirtual

Because the Pololu library is based on the FastGPIO library, we don't/can't use analogWrite. Instead, we set the duty cycle directly at the register level.

We also have to have separate classes for the left and right motors to avoid the complex mapping of speeds to registers.

Implements Romi32U4Motor.

Definition at line 62 of file Romi32U4Motors.cpp.

References Romi32U4Motor::maxEffort, and FastGPIO::Pin< pin >::setOutput().

Referenced by setMotorEffort().