Motor Class Reference

Gives access to the motors of the robot. More...

#include <motor.h>

Collaboration diagram for Motor:

List of all members.

Public Slots
void	setMaximumSpeed (int speed)
bool	setMotorSpeed (int motor, int speed)
void	setRobotState (bool state)

Signals
void	message (QString text, bool CR=true, bool sayIt=false, bool addTimestamp=true)

Public Member Functions
bool	flashlight (bool state)
double	getDrivenDistance (unsigned char motor)
int	getMotorSpeed (int motor)
unsigned int	getRevolutions (unsigned char motor)
	Motor (InterfaceAvr *i, QMutex *m)
bool	motorControl (int motor, bool power, int direction)
void	resetMovementCounter (short int motor)
	~Motor ()

Private Member Functions
void	calculateMovement ()

Private Attributes
QString	className
double	drivenDistance1
double	drivenDistance2
double	drivenDistance3
double	drivenDistance4
InterfaceAvr *	interface1
int	motor1Speed
int	motor2Speed
int	motor3Speed
int	motor4Speed
int	motorSpeedAllMotors
QMutex *	mutex
	this will contain the name of this class at runtime for debug messages
unsigned int	revolutions1
unsigned int	revolutions2
unsigned int	revolutions3
unsigned int	revolutions4
bool	robotState

Static Private Attributes
static const int	ALLMOTORS = 250
	Motor 4 back right.
static const int	BACKWARD = 20
	Motor direction (formerly "clockwise")
static const unsigned char	BIT0 = 1
static const unsigned char	BIT1 = 2
static const unsigned char	BIT2 = 4
static const unsigned char	BIT3 = 8
static const unsigned char	BIT4 = 16
static const unsigned char	BIT5 = 32
static const unsigned char	BIT6 = 64
static const unsigned char	BIT7 = 128
static const unsigned char	BOTBACKWARD = 81
static const unsigned char	BOTFORWARD = 80
	The serial driving commands for the robot.
static const unsigned char	BOTLEFT = 82
static const unsigned char	BOTRIGHT = 83
static const unsigned char	BOTSTART = 86
static const unsigned char	BOTSTOP = 87
static const unsigned char	BOTTURNLEFT = 84
static const unsigned char	BOTTURNRIGHT = 85
static const unsigned char	BOTWAIT = 88
static const char	CLOCK = 1
static const unsigned char	FLASHLIGHT_OFF = 40
static const unsigned char	FLASHLIGHT_ON = 41
static const int	FORWARD = 10
	Some driving directions and motor directions for the robot.
static const unsigned char	HIGH = 1
static const int	LEFT = 30
	Motor direction (formerly "counterclockwise".
static const unsigned char	LOW = 0
static const int	MOTOR1 = 210
	Motor direction/power "same like before".
static const unsigned char	MOTOR1_CLOCKWISE = 21
static const unsigned char	MOTOR1_COUNTERCLOCKWISE = 22
static const unsigned char	MOTOR1_OFF = 20
	the "serial" commands for the MC -> see "main.h" in the microcontroller source code (direcs-avr)!
static const unsigned char	MOTOR1_SPEED_SET = 26
static const unsigned char	MOTOR1A = BIT0
	The bits for controling the USB-Circuit.
static const unsigned char	MOTOR1B = BIT1
static const int	MOTOR1BW = 310
static const int	MOTOR1FW = 300
	used for letting the robot getting only one command for all motors (like 'forward all'). This is to reduce commands on the serial line.
static const int	MOTOR1OFF = 320
static const int	MOTOR2 = 220
	Motor 1 front left.
static const unsigned char	MOTOR2_CLOCKWISE = 24
static const unsigned char	MOTOR2_COUNTERCLOCKWISE = 25
static const unsigned char	MOTOR2_OFF = 23
static const unsigned char	MOTOR2_SPEED_SET = 27
static const unsigned char	MOTOR2A = BIT2
static const unsigned char	MOTOR2B = BIT3
static const int	MOTOR2BW = 340
static const int	MOTOR2FW = 330
static const int	MOTOR2OFF = 350
static const int	MOTOR3 = 230
	Motor 2 front right.
static const unsigned char	MOTOR3_CLOCKWISE = 51
static const unsigned char	MOTOR3_COUNTERCLOCKWISE = 52
static const unsigned char	MOTOR3_OFF = 50
static const unsigned char	MOTOR3_SPEED_SET = 56
static const int	MOTOR3BW = 370
static const int	MOTOR3FW = 360
static const int	MOTOR3OFF = 380
static const int	MOTOR4 = 240
	Motor 3 back left.
static const unsigned char	MOTOR4_CLOCKWISE = 54
static const unsigned char	MOTOR4_COUNTERCLOCKWISE = 55
static const unsigned char	MOTOR4_OFF = 53
static const unsigned char	MOTOR4_SPEED_SET = 57
static const int	MOTOR4BW = 400
static const int	MOTOR4FW = 390
static const int	MOTOR4OFF = 410
static const unsigned char	MOTORCLOCK = BIT4
static const char	OFF = false
static const char	ON = true
static const int	READ_AXIS_X = 500
static const int	READ_AXIS_Y = 510
static const int	READ_AXIS_Z = 520
static const int	RIGHT = 40
static const int	SAME = 200
static const unsigned char	SPEED_SET_ALLMOTORS = 60
static const int	START = 70
static const int	STOP = 80
static const int	TURNLEFT = 50
static const int	TURNRIGHT = 60
static const int	WAIT = 90

---

Detailed Description

Gives access to the motors of the robot.

Author:

Markus Knapp The Motor class gives access to the motors of the robot.

Definition at line 37 of file motor.h.

---

Constructor & Destructor Documentation

Motor::Motor	(	InterfaceAvr *	i,
		QMutex *	m
	)

Definition at line 23 of file motor.cpp.

Motor::~Motor

(

)

Definition at line 59 of file motor.cpp.

---

Member Function Documentation

void Motor::calculateMovement ( )

private

Definition at line 821 of file motor.cpp.

bool Motor::flashlight

(

bool

state

)

Turns the flashlight ON or OFF.

Parameters:

state

can be ON or OFF.

Todo:

put this somewhere else...

Definition at line 1177 of file motor.cpp.

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double Motor::getDrivenDistance

(

unsigned char

motor

)

Returns the driven distance, if the motor is a stepper motor!

Parameters:

motor

is the motor number.

Returns:

The driven distance in cm made of a whee1.

Definition at line 104 of file motor.cpp.

int Motor::getMotorSpeed

(

int

motor

)

Returns:

The speed of a motor.

Parameters:

motor

is the motor number.

Definition at line 1155 of file motor.cpp.

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unsigned int Motor::getRevolutions

(

unsigned char

motor

)

Parameters:

motor

is the motor number.

Returns:

The revolutions made of a motor (stored in the microcontroller till power off).

Definition at line 82 of file motor.cpp.

void Motor::message ( QString  text, bool  CR = true, bool  sayIt = false, bool  addTimestamp = true  )

signal

Emits a string to the GUI log / console.

See also:

Gui::appendLog()

Parameters:

text	is the message to be emitted
CR	is true when a CR/LF should be added at the end of the line (default)
sayIt	is true when the text for the log also should be spoken (default=false)
addTimestamp	If true, the a timestamp is added in front of the text. This parameter is optional.

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bool Motor::motorControl	(	int	motor,
		bool	power,
		int	direction
	)

Controls a motor (normal and stepper!).

Parameters:

motor	is the motor number.
power	can be ON or OFF.
direction	can be CLOCKWISE or COUNTERCLOCKWISE.

Returns:

true on access (answer from Atmel was okay)

See also:

makeSteps() for generating steps for stepper motors

Definition at line 126 of file motor.cpp.

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void Motor::resetMovementCounter

(

short int

motor

)

Resets the stored driven distances and made revolutions in this class and in the microcontroller.

Parameters:

motor

is the motor number.

Definition at line 936 of file motor.cpp.

void Motor::setMaximumSpeed ( int  speed )

slot

Sets the maximum speed of alls motors (the robot).

Parameters:

speed

is the speed (0 - 255).

Definition at line 1148 of file motor.cpp.

bool Motor::setMotorSpeed ( int  motor, int  speed  )

slot

Sets the speed of a motor.

Parameters:

motor	is the motor number (MOTOR1, MOTOR2, MOTOR3, MOTOR4, ALLMOTORS).
speed	is the speed (0 - 255). return true on success

Todo:

check if this max value is okay, since we have an int here now. sa: direcsAcr for max values!

Definition at line 996 of file motor.cpp.

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void Motor::setRobotState ( bool  state )

slot

This slots takes the robot (circuit) state, to know if the robot is ON or OFF. When the class knows this, unnecessary communication with the interface can be avoided.

Parameters:

state

can be ON or OFF

Definition at line 1239 of file motor.cpp.

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Member Data Documentation

const int Motor::ALLMOTORS = 250

staticprivate

Motor 4 back right.

Definition at line 197 of file motor.h.

const int Motor::BACKWARD = 20

staticprivate

Motor direction (formerly "clockwise")

Definition at line 179 of file motor.h.

const unsigned char Motor::BIT0 = 1

staticprivate

Definition at line 168 of file motor.h.

const unsigned char Motor::BIT1 = 2

staticprivate

Definition at line 169 of file motor.h.

const unsigned char Motor::BIT2 = 4

staticprivate

Definition at line 170 of file motor.h.

const unsigned char Motor::BIT3 = 8

staticprivate

Definition at line 171 of file motor.h.

const unsigned char Motor::BIT4 = 16

staticprivate

Definition at line 172 of file motor.h.

const unsigned char Motor::BIT5 = 32

staticprivate

Definition at line 173 of file motor.h.

const unsigned char Motor::BIT6 = 64

staticprivate

Definition at line 174 of file motor.h.

const unsigned char Motor::BIT7 = 128

staticprivate

Definition at line 175 of file motor.h.

const unsigned char Motor::BOTBACKWARD = 81

staticprivate

Definition at line 250 of file motor.h.

const unsigned char Motor::BOTFORWARD = 80

staticprivate

The serial driving commands for the robot.

Definition at line 249 of file motor.h.

const unsigned char Motor::BOTLEFT = 82

staticprivate

Definition at line 251 of file motor.h.

const unsigned char Motor::BOTRIGHT = 83

staticprivate

Definition at line 252 of file motor.h.

const unsigned char Motor::BOTSTART = 86

staticprivate

Definition at line 255 of file motor.h.

const unsigned char Motor::BOTSTOP = 87

staticprivate

Definition at line 256 of file motor.h.

const unsigned char Motor::BOTTURNLEFT = 84

staticprivate

Definition at line 253 of file motor.h.

const unsigned char Motor::BOTTURNRIGHT = 85

staticprivate

Definition at line 254 of file motor.h.

const unsigned char Motor::BOTWAIT = 88

staticprivate

Definition at line 257 of file motor.h.

QString Motor::className

private

Todo:

check the conversion value and make it a const!

Definition at line 140 of file motor.h.

const char Motor::CLOCK = 1

staticprivate

For motor "OFF"

Definition at line 163 of file motor.h.

double Motor::drivenDistance1

private

Definition at line 156 of file motor.h.

double Motor::drivenDistance2

private

Definition at line 157 of file motor.h.

double Motor::drivenDistance3

private

Definition at line 158 of file motor.h.

double Motor::drivenDistance4

private

Definition at line 159 of file motor.h.

const unsigned char Motor::FLASHLIGHT_OFF = 40

staticprivate

Definition at line 263 of file motor.h.

const unsigned char Motor::FLASHLIGHT_ON = 41

staticprivate

Definition at line 264 of file motor.h.

const int Motor::FORWARD = 10

staticprivate

Some driving directions and motor directions for the robot.

See also:

Direcs::drive() [Slot]

Definition at line 178 of file motor.h.

const unsigned char Motor::HIGH = 1

staticprivate

For stepper motor steps (clock)

Definition at line 165 of file motor.h.

InterfaceAvr* Motor::interface1

private

Definition at line 142 of file motor.h.

const int Motor::LEFT = 30

staticprivate

Motor direction (formerly "counterclockwise".

Definition at line 180 of file motor.h.

const unsigned char Motor::LOW = 0

staticprivate

Definition at line 166 of file motor.h.

const int Motor::MOTOR1 = 210

staticprivate

Motor direction/power "same like before".

Definition at line 193 of file motor.h.

const unsigned char Motor::MOTOR1_CLOCKWISE = 21

staticprivate

Definition at line 227 of file motor.h.

const unsigned char Motor::MOTOR1_COUNTERCLOCKWISE = 22

staticprivate

Definition at line 228 of file motor.h.

const unsigned char Motor::MOTOR1_OFF = 20

staticprivate

the "serial" commands for the MC -> see "main.h" in the microcontroller source code (direcs-avr)!

Definition at line 226 of file motor.h.

const unsigned char Motor::MOTOR1_SPEED_SET = 26

staticprivate

Definition at line 233 of file motor.h.

const unsigned char Motor::MOTOR1A = BIT0

staticprivate

The bits for controling the USB-Circuit.

Definition at line 219 of file motor.h.

const unsigned char Motor::MOTOR1B = BIT1

staticprivate

Definition at line 220 of file motor.h.

const int Motor::MOTOR1BW = 310

staticprivate

Definition at line 200 of file motor.h.

const int Motor::MOTOR1FW = 300

staticprivate

used for letting the robot getting only one command for all motors (like 'forward all'). This is to reduce commands on the serial line.

Definition at line 199 of file motor.h.

const int Motor::MOTOR1OFF = 320

staticprivate

Definition at line 201 of file motor.h.

int Motor::motor1Speed

private

Definition at line 144 of file motor.h.

const int Motor::MOTOR2 = 220

staticprivate

Motor 1 front left.

Definition at line 194 of file motor.h.

const unsigned char Motor::MOTOR2_CLOCKWISE = 24

staticprivate

Definition at line 230 of file motor.h.

const unsigned char Motor::MOTOR2_COUNTERCLOCKWISE = 25

staticprivate

Definition at line 231 of file motor.h.

const unsigned char Motor::MOTOR2_OFF = 23

staticprivate

Definition at line 229 of file motor.h.

const unsigned char Motor::MOTOR2_SPEED_SET = 27

staticprivate

Definition at line 234 of file motor.h.

const unsigned char Motor::MOTOR2A = BIT2

staticprivate

Definition at line 221 of file motor.h.

const unsigned char Motor::MOTOR2B = BIT3

staticprivate

Definition at line 222 of file motor.h.

const int Motor::MOTOR2BW = 340

staticprivate

Definition at line 203 of file motor.h.

const int Motor::MOTOR2FW = 330

staticprivate

Definition at line 202 of file motor.h.

const int Motor::MOTOR2OFF = 350

staticprivate

Definition at line 204 of file motor.h.

int Motor::motor2Speed

private

Definition at line 145 of file motor.h.

const int Motor::MOTOR3 = 230

staticprivate

Motor 2 front right.

Definition at line 195 of file motor.h.

const unsigned char Motor::MOTOR3_CLOCKWISE = 51

staticprivate

Definition at line 237 of file motor.h.

const unsigned char Motor::MOTOR3_COUNTERCLOCKWISE = 52

staticprivate

Definition at line 238 of file motor.h.

const unsigned char Motor::MOTOR3_OFF = 50

staticprivate

Definition at line 236 of file motor.h.

const unsigned char Motor::MOTOR3_SPEED_SET = 56

staticprivate

Definition at line 243 of file motor.h.

const int Motor::MOTOR3BW = 370

staticprivate

Definition at line 206 of file motor.h.

const int Motor::MOTOR3FW = 360

staticprivate

Definition at line 205 of file motor.h.

const int Motor::MOTOR3OFF = 380

staticprivate

Definition at line 207 of file motor.h.

int Motor::motor3Speed

private

Definition at line 146 of file motor.h.

const int Motor::MOTOR4 = 240

staticprivate

Motor 3 back left.

Definition at line 196 of file motor.h.

const unsigned char Motor::MOTOR4_CLOCKWISE = 54

staticprivate

Definition at line 240 of file motor.h.

const unsigned char Motor::MOTOR4_COUNTERCLOCKWISE = 55

staticprivate

Definition at line 241 of file motor.h.

const unsigned char Motor::MOTOR4_OFF = 53

staticprivate

Definition at line 239 of file motor.h.

const unsigned char Motor::MOTOR4_SPEED_SET = 57

staticprivate

Definition at line 244 of file motor.h.

const int Motor::MOTOR4BW = 400

staticprivate

Definition at line 209 of file motor.h.

const int Motor::MOTOR4FW = 390

staticprivate

Definition at line 208 of file motor.h.

const int Motor::MOTOR4OFF = 410

staticprivate

Definition at line 210 of file motor.h.

int Motor::motor4Speed

private

Definition at line 147 of file motor.h.

const unsigned char Motor::MOTORCLOCK = BIT4

staticprivate

Definition at line 223 of file motor.h.

int Motor::motorSpeedAllMotors

private

Definition at line 148 of file motor.h.

QMutex* Motor::mutex

mutableprivate

this will contain the name of this class at runtime for debug messages

Definition at line 141 of file motor.h.

const char Motor::OFF = false

staticprivate

For motor "ON"

Definition at line 162 of file motor.h.

const char Motor::ON = true

staticprivate

Definition at line 161 of file motor.h.

const int Motor::READ_AXIS_X = 500

staticprivate

Definition at line 212 of file motor.h.

const int Motor::READ_AXIS_Y = 510

staticprivate

Definition at line 213 of file motor.h.

const int Motor::READ_AXIS_Z = 520

staticprivate

Definition at line 214 of file motor.h.

unsigned int Motor::revolutions1

private

Definition at line 152 of file motor.h.

unsigned int Motor::revolutions2

private

Definition at line 153 of file motor.h.

unsigned int Motor::revolutions3

private

Definition at line 154 of file motor.h.

unsigned int Motor::revolutions4

private

Definition at line 155 of file motor.h.

const int Motor::RIGHT = 40

staticprivate

Definition at line 181 of file motor.h.

bool Motor::robotState

private

Definition at line 143 of file motor.h.

const int Motor::SAME = 200

staticprivate

Definition at line 192 of file motor.h.

const unsigned char Motor::SPEED_SET_ALLMOTORS = 60

staticprivate

Definition at line 246 of file motor.h.

const int Motor::START = 70

staticprivate

Definition at line 184 of file motor.h.

const int Motor::STOP = 80

staticprivate

Definition at line 185 of file motor.h.

const int Motor::TURNLEFT = 50

staticprivate

Definition at line 182 of file motor.h.

const int Motor::TURNRIGHT = 60

staticprivate

Definition at line 183 of file motor.h.

const int Motor::WAIT = 90

staticprivate

Definition at line 186 of file motor.h.

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

• direcs/src/motor.h
• direcs/src/motor.cpp