QPID_MotorDriver Class Reference

Mostly abstract class that defines access methods and features for generic motors, to be used in a QPID unit. More...

#include <QPID_MotorDriver.h>

Inheritance diagram for QPID_MotorDriver:

Public Types
enum	decayModeType : uint8_t { decayModeFast = 0, decayModeSlow = 1 }
	Symbolic names for decay modes that should be used during inactive part of PWM phase, if the driver supports that functionality.

Public Member Functions
virtual void	setPower (int16_t pow)
	(abstract) Set power to the motor, i.e. make the motor run, sign indicates direction (-maxPower to maxPower). Non PWM driven motors need to map their power range accordingly.
virtual void	coast ()
	(abstract) cut power and let motor coast to a slow stop (fast decay stop), implies setSpeed(0) More...
virtual void	brake ()
	(abstract) bring motor to abrupt stop (slow decay stop), implies setSpeed(0) More...
virtual void	setDecay (decayModeType mode)
	(abstract) Set mode for PWM inactive phases, if available for driver used
virtual void	setFrequency (uint8_t onoff)
	(abstract) Set PWM frequency
virtual void	enable ()
	(abstract) enable by hardware (EN oder SLEEP Pin) More...
virtual void	disable ()
	(abstract) sleep by hardware (EN oder SLEEP Pin) More...
virtual int8_t	hasFault ()
	Reports on motor driver errors. Has a dummy implementation in the base class which always returns false/0 (no fault). Override in derived classes if the motor driver supports fault signaling. More...
Public Member Functions inherited from QPID_Object
virtual void	update ()
	(abstract) Can be overridden by QPID subsystems which need to do their own polling. Will be called by QPID_Unit::update() for subsystems, and by firmware/client for QPID_Unit itself.
void	throwError (const char *invokedBy, const char *errorMessage)
	Writes error message and error invoking class to Serial. More...
void	log (const char *logEntry)
	Puts timestamped string into the system log (atm: writes it out to Serial). More...

Protected Attributes
decayModeType	decayMode = decayModeSlow
int16_t	currentPWM = 0
int16_t	maxPower
int16_t	alwaysOnPWM

Additional Inherited Members
Protected Member Functions inherited from QPID_Object
	QPID_Object ()
	Constructor. Begins Serial with 115200 baud for logging and error reporting, if not done previously.
virtual bool	processMessage (uint8_t *message)
	(abstract) Interprets message handed down from QPID_Unit locally. Must be overridden in derived classes

Detailed Description

Mostly abstract class that defines access methods and features for generic motors, to be used in a QPID unit.

Derived classes should look at this class's documantation and the example

QPID_MotorDriver_DRV8833 class.

Todo:

Initially developed with only DC motors in mind (PWM, frequency, decay etc.). I'd be better to have an even more generic class and derive QPID_DC_MotorDriver and QPID_Stepper_MotorDriver classes

(done) document abstract methods as implementation guide for derived classes. For now, look at sample DRV8833 class

(done) add fault signaling

Member Function Documentation

coast()

virtual void QPID_MotorDriver::coast ( )

inlinevirtual

(abstract) cut power and let motor coast to a slow stop (fast decay stop), implies setSpeed(0)

See also

brake()

Reimplemented in QPID_MotorDriver_AdafruitMotorShieldV2, and QPID_MotorDriver_DRV8833.

brake()

virtual void QPID_MotorDriver::brake ( )

inlinevirtual

(abstract) bring motor to abrupt stop (slow decay stop), implies setSpeed(0)

See also

coast()

Reimplemented in QPID_MotorDriver_AdafruitMotorShieldV2, and QPID_MotorDriver_DRV8833.

enable()

virtual void QPID_MotorDriver::enable ( )

inlinevirtual

(abstract) enable by hardware (EN oder SLEEP Pin)

See also

disable()

Reimplemented in QPID_MotorDriver_AdafruitMotorShieldV2, and QPID_MotorDriver_DRV8833.

disable()

virtual void QPID_MotorDriver::disable ( )

inlinevirtual

(abstract) sleep by hardware (EN oder SLEEP Pin)

See also

enable()

Reimplemented in QPID_MotorDriver_AdafruitMotorShieldV2, and QPID_MotorDriver_DRV8833.

hasFault()

virtual int8_t QPID_MotorDriver::hasFault ( )

inlinevirtual

Reports on motor driver errors. Has a dummy implementation in the base class which always returns false/0 (no fault). Override in derived classes if the motor driver supports fault signaling.

Returns

False for no fault, true or specific fault number otherwise. Always false (0) in base class dummy implementation.

Reimplemented in QPID_MotorDriver_DRV8833, and QPID_MotorDriver_AdafruitMotorShieldV2.

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

• QPID_MotorDriver.h